# offboard_python_dasa

**Repository Path**: cloudkernel-tech/offboard_python_dasa

## Basic Information

- **Project Name**: offboard_python_dasa
- **Description**: offboard control demo for DASA system
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: dev_kerlouddasa
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-02-08
- **Last Updated**: 2024-11-06

## Categories & Tags

**Categories**: Uncategorized

**Tags**: dasa

## README

# Intro

The repo is a sample demo for controlling a drone in offboard mode via python. It is designed to support
various vehicles (uav, flying rover and rover) in DASA system proposed by Cloudkernel Technologies (Shenzhen) Co.,Ltd.

More information:

- offboard control: <https://cloudkerneltech.gitbook.io/kerlouduav/userguide/tutorial/offboard_python>

- Kerloud DASA system: <https://kerloud-dasa.readthedocs.io>

# Environment Requirements

Recommended environment is Ubuntu 18.04, ROS melodic and python 3.6.9. The repo also supports Ubuntu 16.04 with ROS kinetic, but the 
setting is not tested rigorously.

Dependencies:
* mavros (dev_kerlouddasa branch): <https://github.com/cloudkernel-tech/mavros>
* mavlink (dev_kerlouddasa branch): <https://github.com/cloudkernel-tech/mavlink-gdp-release>

python module requirements:

        python3 -m pip install rospkg pyquaternion

We assume that the DASA localization workspace is located in ~/DASA_space/catkinws_dasa by default, and users 
can install other prerequisites simply by running setup.sh

# How to run 

## Simulation test (single vehicle only)

Note that DASA localization workspace is required to be located in the same directory of current repository.
        
        # Attention: users have to start STIL simulation for Kerloud vehicles in virtual environment first
        # uav case:
        cd ~/DASA_space/virtual_simulation/sitl_space_kerloud_uav
        bash sitl_run.sh $PWD/bin/px4 none gazebo kerloud300
        # flying rover case:
        # cd ~/DASA_space/virtual_simulation/sitl_space_kerloud_flyingrover
        # bash sitl_run.sh $PWD/bin/px4 none gazebo kerloud_fr_scorpion
        # rover case:
        # cd ~/DASA_space/virtual_simulation/sitl_space_kerloud_rover
        # bash sitl_run.sh $PWD/bin/px4 none gazebo kerloud_rover       
        
        # terminal 1
        # source the mavros workspace in dasa locolization workspace
        cd ~/DASA_space/offboard_python_dasa
        source ../catkinws_dasa/devel/setup.bash
        # launch the mavros node for simulation
        roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"

        # terminal 2: start the commander interface
        # source the mavros workspace in dasa locolization workspace
        cd ~/DASA_space/offboard_python_dasa
        source ../catkinws_dasa/devel/setup.bash
        # start demo programs for a specific vehicle type 
        python3 uav_demo.py --flag_dasa False
        # python3 flyingrover_demo.py --flag_dasa False
        # python3 rover_demo.py --flag_dasa False
        
        # terminal 3: start the control interface
        # source the mavros workspace in dasa locolization workspace
        source ../catkinws_dasa/devel/setup.bash
        python3 px4_mavros_run.py --sim True --flag_dasa False --vehicle uav
        # python3 px4_mavros_run.py --sim True --flag_dasa False --vehicle flyingrover
        # python3 px4_mavros_run.py --sim True --flag_dasa False --vehicle rover


Or simply use convenience scripts:

        bash scripts/start_uav_sitldemo.sh              # uav case
        bash scripts/start_flyingrover_sitl_demo.sh     # flyingrover case
        bash scripts/start_rover_sitl_demo.sh           # rover case


## Real flight in DASA environment

        # terminal 1: start DASA localization nodes
        # source the mavros workspace in dasa locolization workspace
        cd ~/DASA_space/catkinws_dasa && source devel/setup.bash
        # launch nodes for dasa localization
        bash scripts/single_case/<run_script>.sh

        # terminal 2: start the control interface
        # source the mavros workspace in dasa locolization workspace
        cd ~/DASA_space/offboard_python_dasa
        source ../catkinws_dasa/devel/setup.bash
        python3 px4_mavros_run.py --sim False --flag_dasa True --vehicle <vehicle_type> 
       
        # terminal 3: start the commander interface
        # source the mavros workspace in dasa locolization workspace
        cd ~/DASA_space/offboard_python_dasa
        source ../catkinws_dasa/devel/setup.bash
        # start demo programs for a specific vehicle type 
        python3 uav_demo.py --flag_dasa True
        # python3 flyingrover_demo.py --flag_dasa True
        # python3 rover_demo.py --flag_dasa True
        
        # then users can arm and set offboard mode with a transmitter to start the mission

Or simply use convenience scripts and then operate with the transmitter by arming and setting offboard mode for DASA vehicles:

        bash scripts/run_uav_demo.sh             # uav case
        bash scripts/run_flyingrover_demo.sh     # flyingrover case
        bash scripts/run_rover_demo.sh           # rover case
        

# References:

https://dev.px4.io/master/en/ros/mavros_offboard.html

https://github.com/PX4/PX4-Autopilot/tree/master/integrationtests/python_src/px4_it/mavros

https://pypi.org/project/mavros-python-examples/

https://github.com/mavlink/mavros/tree/master/mavros#installation