Phoenix

Airborne and hive code for Phoenix dance project

main remarks

As far as possible, all is in Python2.7 language Multiwii Serial Protocol is well described Here

Architecture

The drone folder

contains the embedded code for the raspberry pi 2 on the drone

The hive folder

contains the code on the master computer Windows 10 which has high CPU.

The pan-tilt folder

contains the test bench of fiducial pose estimation.

This code operates a pan-tilt turret with a Logitech c525 webcam. The objective is to center an aruco marker with this turret and measure the relative position in centimeters.

The test_opencv folder

contains some simple algorithms with open cv

How to install ROS Jade on Raspberry Pi 3 (Jessie)

If any issue, please refer to :

• https://forum.poppy-project.org/t/raspberry-pi-3-experiments/2456/6
• http://wiki.ros.org/jade/Installation/Source
• http://wiki.ros.org/jade/Installation/Ubuntu#jade.2BAC8-Installation.2BAC8-Sources.Setup_your_sources.list

install Jessie Lite on Raspberry Pi 3

• get a clean image of Jessie Lite for Raspberry Pi 3
• Flash it on a micro-SD card (with Win32diskimager on Windows)
• Insert the SD in the Raspberry Pi and plug Ethernet and Power
• Login in SSH mode login : pi, pass : raspberry sudo raspi-config
• Expand File system
• boot without login
• choose slow boot to be sure to have network access
• activate raspberry pi camera
• sudo nano /etc/dphys-swapfile
• Configure so that CONF_SWAPSIZE=1024 (the swap size must be enlarged to allow ROS installation)
• sudo reboot

Install ROS Jade

• sudo nano /etc/apt/sources.list
• add the following line to this file : deb http://packages.ros.org/ros/ubuntu jessie main
• sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
• sudo apt-get update
• sudo apt-get upgrade
• sudo apt-get install python-rosdep
• sudo apt-get install python-rosinstall-generator
• sudo apt-get install python-wstool
• sudo apt-get install python-rosinstall
• sudo apt-get install build-essential
• sudo rosdep init
• rosdep update
• mkdir ros_catkin_ws
• cd ros_catkin_ws/
• For this project, I decided to install a restriction of ROS linked with perception and visual processing. With the line below, you can adapt according to your needs.
• rosinstall_generator robot --rosdistro jade --deps --wet-only --tar > jade-robot-wet.rosinstall
• wstool init -j8 src jade-robot-wet.rosinstall
• rosdep install --from-paths src --ignore-src --rosdistro jade -y
• sudo nano src/robot_model/collada_urdf/src/collada_urdf.cpp
• add the following lines :

#ifdef __arm__                 // fix for ARM build
#include <strings.h>
bool Assimp::IOSystem::ComparePaths(const char *p1, const char *p2) const
{
   return !::strcasecmp(p1, p2);
}
#  endif

• ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
• nano ~/.bashrc
• add to this file : source ~/ros_catkin_ws/install_isolated/setup.bash

Install specific tools

• sudo apt-get install python-pip
• sudo apt-get install ipython
• sudo pip install picamera

Wifi configuration (WIFI N)

For the moment, let's install a classical WIFI 802.11N dongle as EDIMAX-EW-7811UN Or use the integrated Wifi of the RPI3

• connect the WIFI dongle to the card
• Edit the file /etc/network/interfaces and add the following lines :

allow-hotplug wlan0
iface wlan0 inet dhcp
  wpa-conf /etc/wpa_supplicant/wpa_supplicant.conf

• Edit the file /etc/wpa_supplicant/wpa_supplicant.conf which must be like this :

ctrl_interface=/var/run/wpa_supplicant
network={
    ssid="XXXXXXXXXX"
    psk="xxxxxxx"
}

• sudo reboot The Pi shall connect to your WIFI. The Pi is now able to live completely wireless.

Wifi configuration (WIFI AC)

For further experiments, we will use cristal clear Wifi 802.11ac with the dongle : EDIMAX-EW-7811UTC The process to install on Jessie :

1. Connect the Pi to Ethernet.
2. Update:
sudo apt-get update
sudo apt-get upgrade

3. Check OS version:
uname -a

Mine was 4.1.7-v7+ #817
4. So the next step is (do this is a folder in your home directory):
wget https://dl.dropboxusercontent.com/u/80256631/8812au-4.1.7-v7-817.tar.gz

You have to update this according to your OS version (hopefully there is a build there).
5. Next:
tar xzf 8812au-4.1.7-v7-817.tar.gz

6. Next:
./install.sh

7. Next:
sudo reboo

Then check that module was installed with:
lsmod

activate serial port on Raspberry Pi 3 to connect Naze32

By default, the serial port of the RPi3 is connected to the Bluetooth module. Therefore, here are the following command to execute :

• sudo apt-get update
• sudo apt-get upgrade
• sudo rpi-update
• In the file /boot/config.txt add the following lines :

dtoverlay=pi3-disable-bt
enable_uart=1

• sudo reboot

What to install on the "hive" computer (Windows 10)

• Install python(x,y) distrib : http://python-xy.github.io/
• TBC

Major links

• ARUCO main page : http://www.uco.es/investiga/grupos/ava/node/26
• ARUCO python binding : https://github.com/fehlfarbe/python-aruco
• TBC