Commit acb031a0 authored by CactusSoyeux's avatar CactusSoyeux
Browse files

Add of boustrophedon generation / reconnection

parents 79ffb6bb 30b6db2f
{
<<<<<<< HEAD
"configurations": [
{
"browse": {
......@@ -26,4 +27,24 @@
}
],
"version": 4
=======
"configurations": [
{
"browse": {
"databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db",
"limitSymbolsToIncludedHeaders": false
},
"includePath": [
"/opt/ros/noetic/include/**",
"/usr/include/**"
],
"name": "ROS",
"intelliSenseMode": "gcc-x64",
"compilerPath": "/usr/bin/gcc",
"cStandard": "gnu11",
"cppStandard": "c++14"
}
],
"version": 4
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
}
\ No newline at end of file
{
"python.autoComplete.extraPaths": [
<<<<<<< HEAD
"/home/cyver/catkin_ws/devel/lib/python3/dist-packages",
"/opt/ros/noetic/lib/python3/dist-packages"
],
......@@ -13,4 +14,11 @@
"array": "cpp",
"string_view": "cpp"
}
=======
"/opt/ros/noetic/lib/python3/dist-packages"
],
"python.analysis.extraPaths": [
"/opt/ros/noetic/lib/python3/dist-packages"
]
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
}
\ No newline at end of file
# ROS Olympe interface for Parrot Anafi drone
## anafi_base
Inferface package between ROS and Olympe
### anafi_node
Node that takes velocity messages and services as input and allows to fly the drone.
It also publishes some informations for the user or other nodes:
* Image stream
* GPS
* Battery level
* State
* Orientation
## anafi_control
### control_node
Takes /joy messages as inputs and convert them into velocity messages and ROS services.
### change_node
Allows the user to switch between joystick and waypoint control.
\ No newline at end of file
......@@ -12,11 +12,17 @@ find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
sensor_msgs
<<<<<<< HEAD
geographic_msgs
std_msgs
message_generation
actionlib_msgs
nav_msgs
=======
std_msgs
message_generation
actionlib_msgs
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
)
## System dependencies are found with CMake's conventions
......@@ -63,6 +69,7 @@ find_package(catkin REQUIRED COMPONENTS
add_service_files(
FILES
TakeOffLand.srv
<<<<<<< HEAD
MoveTo.srv
)
......@@ -71,16 +78,33 @@ add_action_files(
FILES
GoGeoPose.action
)
=======
)
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
<<<<<<< HEAD
geometry_msgs
geographic_msgs
sensor_msgs
std_msgs
actionlib_msgs
nav_msgs
=======
geometry_msgs
sensor_msgs
std_msgs
actionlib_msgs
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
)
################################################
......@@ -115,7 +139,11 @@ generate_messages(
catkin_package(
INCLUDE_DIRS include
LIBRARIES anafi_base
<<<<<<< HEAD
CATKIN_DEPENDS geometry_msgs roscpp rospy sensor_msgs geographic_msgs std_msgs nav_msgs
=======
CATKIN_DEPENDS geometry_msgs roscpp rospy sensor_msgs std_msgs
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
DEPENDS system_lib
)
......
<launch>
<<<<<<< HEAD
<!-- Argument definition -->
<arg name="anafi_ip" default="192.168.42.1"/>
......@@ -28,4 +29,11 @@
<node type="rviz" name="rviz" pkg="rviz" args="-d $(find anafi_base)/rviz/anafi.rviz"/>
=======
<node name="joy" pkg="joy" type="joy_node" output="screen"/>
<node name="anafi_change" pkg="anafi_control" type="change_node.py" output="screen"/>
<node name="anafi_control" pkg="anafi_control" type="control_node.py" output="screen"/>
<node name="anafi_base" pkg="anafi_base" type="anafi_node.py" output="screen"/>
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
</launch>
\ No newline at end of file
......@@ -50,36 +50,51 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>geometry_msgs</build_depend>
<<<<<<< HEAD
<build_depend>geographic_msgs</build_depend>
=======
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_depend>message_runtime</build_depend>
<<<<<<< HEAD
<build_depend>nav_msgs</build_depend>
<build_depend>actionlib_msgs</build_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<build_export_depend>geographic_msgs</build_export_depend>
=======
<build_export_depend>geometry_msgs</build_export_depend>
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>sensor_msgs</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>message_generation</build_export_depend>
<build_export_depend>message_runtime</build_export_depend>
<<<<<<< HEAD
<build_export_depend>nav_msgs</build_export_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>geographic_msgs</exec_depend>
=======
<exec_depend>geometry_msgs</exec_depend>
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>message_generation</exec_depend>
<exec_depend>message_runtime</exec_depend>
<<<<<<< HEAD
<build_depend>nav_msgs</build_depend>
<build_depend>actionlib_msgs</build_depend>
=======
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
<!-- The export tag contains other, unspecified, tags -->
<export>
......
......@@ -6,10 +6,15 @@ Panels:
Expanded:
- /Global Options1
- /Status1
<<<<<<< HEAD
- /Grid1
- /TF1/Frames1
Splitter Ratio: 0.5676470398902893
Tree Height: 478
=======
Splitter Ratio: 0.5676470398902893
Tree Height: 355
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
......@@ -51,12 +56,20 @@ Visualization Manager:
Y: 0
Z: 0
Plane: XY
<<<<<<< HEAD
Plane Cell Count: 30
=======
Plane Cell Count: 10
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/Image
Enabled: true
<<<<<<< HEAD
Image Topic: /anafi/image
=======
Image Topic: /camera/image
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
Max Value: 1
Median window: 5
Min Value: 0
......@@ -66,6 +79,7 @@ Visualization Manager:
Transport Hint: raw
Unreliable: false
Value: true
<<<<<<< HEAD
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
......@@ -131,11 +145,17 @@ Visualization Manager:
Topic: /anafi/path/utm_local_poses
Unreliable: false
Value: true
=======
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
<<<<<<< HEAD
Fixed Frame: odom
=======
Fixed Frame: map
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
Frame Rate: 30
Name: root
Tools:
......@@ -159,7 +179,11 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
<<<<<<< HEAD
Distance: 15.785928726196289
=======
Distance: 10
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
......@@ -167,27 +191,47 @@ Visualization Manager:
Value: false
Field of View: 0.7853981852531433
Focal Point:
<<<<<<< HEAD
X: 6.376500606536865
Y: 0.3636932373046875
Z: -0.01042153313755989
=======
X: 0
Y: 0
Z: 0
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
<<<<<<< HEAD
Pitch: 0.6647971272468567
Target Frame: <Fixed Frame>
Yaw: 4.409150123596191
=======
Pitch: 0.3053981363773346
Target Frame: <Fixed Frame>
Yaw: 1.065398097038269
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
Saved: ~
Window Geometry:
Displays:
collapsed: false
<<<<<<< HEAD
Height: 1016
=======
Height: 846
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
<<<<<<< HEAD
QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000269000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002ac000000eb0000001600ffffff000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c70000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
=======
QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001ee000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000231000000bc0000001600ffffff000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f30000003efc0100000002fb0000000800540069006d00650100000000000004f3000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000282000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
Selection:
collapsed: false
Time:
......@@ -196,6 +240,10 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
<<<<<<< HEAD
Width: 1848
=======
Width: 1267
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
X: 72
Y: 27
<<<<<<< HEAD
#!/usr/bin/env python
# Generic imports
=======
#!/home/anafi/code/parrot-olympe/out/olympe-linux/pyenv_root/versions/3.9.5/bin/python3
#Generic imports
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
import os
import queue
import threading
import cv2
import numpy as np
import olympe
<<<<<<< HEAD
import rospy
import actionlib
from cv_bridge import CvBridge
......@@ -81,10 +88,67 @@ class Anafi:
self.flush_queue_lock = threading.Lock()
# Publishers init
=======
#ROS imports
import rospy
from cv_bridge import CvBridge
#Services types
from anafi_base.srv import TakeOffLand, TakeOffLandResponse
#Olympe imports
from olympe.messages.ardrone3.Piloting import Landing, TakeOff
from olympe.messages.ardrone3.PilotingState import FlyingStateChanged
from olympe.messages.ardrone3.SpeedSettings import MaxRotationSpeed
from olympe.messages.ardrone3.SpeedSettingsState import MaxRotationSpeedChanged
from olympe.messages.gimbal import set_max_speed
from olympe.messages.gimbal import max_speed
from olympe.video.pdraw import Pdraw, PdrawState
#Pub types
from sensor_msgs.msg import Image, NavSatFix
from std_msgs.msg import Bool, Float32, Int8, String
#Sub types
from geometry_msgs.msg import Quaternion, Twist, Vector3
#Drone OS param
DRONE_IP = os.environ.get("DRONE_IP", "192.168.42.1")
DRONE_RTSP_PORT = os.environ.get("DRONE_RTSP_PORT", "554")
DRONE_STREAM = f"rtsp://{DRONE_IP}:{DRONE_RTSP_PORT}/live"
olympe.log.update_config({"loggers": {"olympe": {"level": "WARNING"}}})
class Anafi:
def __init__(self):
#ROS Node init
rospy.init_node('anafi_stream', anonymous=True)
self.br = CvBridge()
self.loop_rate = rospy.Rate(10)
# Create the olympe.Drone object from its IP address
try:
self.drone = olympe.Drone(DRONE_IP)
self.drone.connect()
except Exception as e:
print("Drone connection failed: %s" %e)
#Pdraw init
self.frame_queue = queue.Queue()
self.flush_queue_lock = threading.Lock()
self.timeout = 5
#Initialise Publishers
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
self.anafi_img = None
self.bat_perc = 100
self.gnd_dist = None
self.air_speed = None
<<<<<<< HEAD
self.speed = Vector3(0, 0, 0)
self.state = None
self.sat = None
......@@ -149,11 +213,32 @@ class Anafi:
try:
max_range_rot = self.drone.get_state(
MaxRotationSpeedChanged)['max']
=======
self.quat = Quaternion(0 , 1, 0, 0)
self.speed = Vector3(0,0,0)
self.state = None
self.sat = None
self.gps = NavSatFix()
#Drone variables
self.vel = Twist()
self.last_vel_time = rospy.get_time()
self.time_thrs = 2
#Olympe settings modifications
max_range_rot = 200
max_range_gimbal_pitch = 180
#Rotation Speed
try:
max_range_rot = self.drone.get_state(MaxRotationSpeedChanged)['max']
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
self.drone(MaxRotationSpeed(max_range_rot)).wait().success()
print('Setting max rotation speed to max')
except:
print('Failed to change max rotation speed')
<<<<<<< HEAD
# Set max gimbal pitch speed
try:
self.drone(olympe.messages.gimbal.set_max_speed(
......@@ -367,6 +452,132 @@ class Anafi:
self.frame_queue.put_nowait(yuv_frame)
# Used to flush the frame callcack so the machien don't store all the frames
=======
#Gimbal pitch speed
try:
self.drone(olympe.messages.gimbal.set_max_speed(gimbal_id=0, roll = 10, pitch=max_range_gimbal_pitch, yaw = 0)).wait().success()
print('Setting max gimbal pitch speed to max')
except :
print('Failed to change max gimbal pitch speed')
'''
for i in self.drone.get_state(olympe.messages.gimbal.max_speed).values():
for k,v in i.items():
if (k == 'max_bound_pitch'):
max_range_gimbal = v
self.drone(olympe.messages.gimbal.set_max_speed(gimbal_id=0, roll = 10, pitch=max_range_gimbal, yaw = 0)).wait().success()
print('Setting max gimbal pitch speed to max')
'''
#Pdraw
self.pdraw = Pdraw()
self.pdraw.set_callbacks(
raw_cb = self.yuv_frame_cb,
flush_raw_cb = self.flush_cb
)
#ROS Publishers init
self.img_pub = rospy.Publisher('camera/image', Image, queue_size=2)
self.bat_pub = rospy.Publisher('meta/battery', Int8, queue_size=2)
self.gnd_dist_pub = rospy.Publisher('meta/gnd_dist', Float32, queue_size=2)
self.air_speed_pub = rospy.Publisher('meta/air_speed', Float32, queue_size=2)
self.quat_pub = rospy.Publisher('meta/quat', Quaternion, queue_size=2)
self.speed_pub = rospy.Publisher('meta/speed', Vector3, queue_size=2)
self.state_pub = rospy.Publisher('meta/state', String, queue_size=2)
self.sat_pub = rospy.Publisher('meta/sat', Bool, queue_size=2)
self.gps_pub = rospy.Publisher('meta/gps', NavSatFix, queue_size=2)
#ROS Subscribers init
rospy.Subscriber("/cmd_cam", Float32, self.camCallback)
rospy.Subscriber("/cmd_vel", Twist, self.velCallback)
#ROS Services init
s = rospy.Service("take_off_land", TakeOffLand, self.handle_take_off_land)
def takeOffLandService(self, str):
rospy.wait_for_service("take_off_land")
try:
take_off_land = rospy.ServiceProxy("take_off_land", TakeOffLand)
resp = take_off_land(str)
return resp.str
except rospy.ServiceException as e:
print("Service call failed: %s" %e)
def handle_take_off_land(self, req):
if req.str == "take_off":
#print("Drone Take Off")
try:
assert self.drone(TakeOff()>> FlyingStateChanged(state="hovering", _timeout=5)).wait().success()
return TakeOffLandResponse("ok_take_off")
except:
return TakeOffLandResponse("fail_take_off")
elif req.str == "land":
#print("Drone Land")
try:
assert self.drone(Landing()>> FlyingStateChanged(state="landed", _timeout=10)).wait().success()
return TakeOffLandResponse("ok_land")
except :
return TakeOffLandResponse("fail_land")
else :
#print("Error")
return TakeOffLandResponse("error")
def camCallback(self, cam_msg):
val = np.float32(cam_msg.data)
pyval = val.item()
self.drone(olympe.messages.gimbal.set_target(gimbal_id=0, control_mode="position", yaw_frame_of_reference="relative", yaw=0.0, pitch_frame_of_reference="relative", pitch= pyval, roll_frame_of_reference="relative", roll=0.0)).wait()
def velCallback(self, vel_msg):
self.vel = vel_msg
#Update last time the drone received a cmd_vel msg
self.last_vel_time = rospy.get_time()
def yuv_frame_cb(self, yuv_frame):
#Get stream MetaData is there is any received
try:
meta = yuv_frame.vmeta()
except:
meta[1] = None
if meta[1] is not None:
self.bat_perc = meta[1]["battery_percentage"]
self.gnd_dist = meta[1]["ground_distance"]
self.air_speed = meta[1]["air_speed"]
self.quat = Quaternion(meta[1]["drone_quat"]["x"], meta[1]["drone_quat"]["y"], meta[1]["drone_quat"]["z"], meta[1]["drone_quat"]["w"])
self.speed = Vector3(meta[1]["speed"]["north"], meta[1]["speed"]["east"], meta[1]["speed"]["down"])
self.state = meta[1]["state"]
if "location" in meta[1]:
self.sat = True
self.gps.latitude = meta[1]["location"]["latitude"]
self.gps.longitude = meta[1]["location"]["longitude"]
self.gps.altitude = meta[1]["location"]["altitude"]
self.gps.position_covariance_type = 0
if "location" not in meta[1]:
self.sat = False
self.gps.latitude = 500
self.gps.longitude = 500
self.gps.altitude = 500
self.gps.position_covariance_type = 0
#print(meta[1])
#Convert image from YUV to CV2
cv2_cvt_color_flag = {
olympe.VDEF_I420: cv2.COLOR_YUV2BGR_I420,
olympe.VDEF_NV12: cv2.COLOR_YUV2BGR_NV12,
}[yuv_frame.format()]
self.anafi_img = cv2.cvtColor(yuv_frame.as_ndarray(), cv2_cvt_color_flag)
#Add frame to queue
self.frame_queue.put_nowait(yuv_frame)
>>>>>>> 30b6db2ff08529de6edde8cd9650818f0a861940
def flush_cb(self, stream):
if stream["vdef_format"] != olympe.VDEF_I420:
return True
......@@ -374,6 +585,7 @@ class Anafi:
while not self.frame_queue.empty():
self.frame_queue.get_nowait().unref()
return True
<<<<<<< HEAD
def start(self):
......@@ -468,3 +680,76 @@ if __name__ == "__main__":
anafi.start()
# anafi.stop()
=======
def start(self):
#Pdraw
self.pdraw.play(url=DRONE_STREAM)
assert self.pdraw.wait(PdrawState.Playing, timeout=self.timeout)
#Start piloting
self.drone.start_piloting()
#ROS
rospy.loginfo("ROS Anafi base: Start")
while not rospy.is_shutdown():
#ROS Publishers
if self.anafi_img is not None:
self.img_pub.publish(self.br.cv2_to_imgmsg(self.anafi_img, "rgb8"))
#Not None verified in the frame call back
self.bat_pub.publish(self.bat_perc)
self.gnd_dist_pub.publish(self.gnd_dist)
self.air_speed_pub.publish(self.air_speed)
self.quat_pub.publish(self.quat)
self.speed_pub.publish(self.speed)
self.state_pub.publish(self.state)
self.sat_pub.publish(self.sat)