Where communities thrive

Join over 1.5M+ people
Join over 100K+ communities
Free without limits
Create your own community

Explore more communities

ArduPilot/GSoC

Google Summer of Code discussions - http://ardupilot.org/dev/docs/gsoc-ideas-list.html

People

Repo info

Activity

Rajat Singhal

@rajat2004

Wait, the ip is null

The same script as this right? ArduPilot/ardupilot@120755f

patrickpoirier51

@patrickpoirier51

Yep I just copied it https://raw.githubusercontent.com/ArduPilot/ardupilot/9e37e92b38e6f6debf07cbcc4afbff97f512a22f/libraries/SITL/examples/Airsim/follow-copter.sh

Rajat Singhal

@rajat2004

It seems to be going into this - https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_SITL/UARTDriver.cpp#L118 rather than the condition below it

patrickpoirier51

@patrickpoirier51

I can try to revert to https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_SITL/UARTDriver.cpp#L491

Rajat Singhal

@rajat2004

Please try, I don't have any idea why it's not parsing the string properly

I'm back on Linux though, and it's parsing the string correctly atleast

patrickpoirier51

@patrickpoirier51

ok , its on my side, I'll update ... Got to go

Harshit Kumar Sankhla

@harshitsankhla

@patrickpoirier51 Hi, I came across this blog of yours - https://discuss.ardupilot.org/t/experiment-with-visual-odometry-rovio/40120 I am working with VIN for quadcopters in my lab, and also wanted to know how far you have been able to take this. I would be really interested in helping building more on this for Ardupilot, a lot of work is coming out of HKUST and ASL-ETH. Maybe it could be a nice GSoC project too.

patrickpoirier51

@patrickpoirier51

@rajat2004 ok I got it working == see on the forum

patrickpoirier51

@patrickpoirier51

@harshitsankhla yes, this was a cool project. And then came the Intel T265 ....that offer a complete package with Stereoscopic VIO and LOTS of power , thanks to the Movidius Chip and the ASICs. By comparaison, you need a X86 to process 20 FPS on the monocular VIO with a very fragile and hard to start system (mainly due to the monocular scaling issues), or tou can get over 30 Fps running on a lightweigt system like a Banana pi M2 Zero for about the same price.

patrickpoirier51

@patrickpoirier51

I mean combined price of the camera + IMU + X86 compared to T265+ BPI Zero

Harshit Kumar Sankhla

@harshitsankhla

I see. I have heard about the T265, never actually used one. We use a MatrixVision mono camera and an XSens IMU tightly coupled, mounted on the quadcopter which has an Intel NUC, so compute is good

patrickpoirier51

@patrickpoirier51

I suggest you read @hoangthien94 series of blogs on the T265 as his GSOC project to have a deep and detailed report on the matter

@rajat2004 this is a good paper on what we just discussed https://arxiv.org/pdf/1906.00421.pdf

And here is their github https://github.com/harvard-edge/airlearning

Rajat Singhal

@rajat2004

The repo looks great! They have added quite a lot of features on top of AirSim
I'll have a detailed look into it after sometime

These papers are very recent, both in May-June 2019

libraries/SITL/examples/Airsim/follow-copter.sh
UDP connection (null):14550
Bind SITL sensor input at 127.0.0.1:9013
ERROR: segmentation fault - aborting
AirSim control interface set to 127.0.0.1:9012
Starting sketch 'ArduCopter'
Starting SITL input
Using Irlock at port : 9015
bind port 5770 for 0
Running: sh Tools/scripts/dumpstack 22 >segv_arducopter.22.out 2>&1
libraries/SITL/examples/Airsim/follow-copter.sh: line 42: 22 Aborted (core dumped) $COPTER --model airsim-copter --uartA udpclient:$GCS_IP --uartC mcast:127.0.0.1:14550 --defaults $BASE_DEFAULTS

@patrickpoirier51 After a good night's sleep, now I can see why it was null, the $GCS_IP wasn't being passed to the follow_copter.sh script
Will need to add a default IP so that this doesn't happen again

patrickpoirier51

@patrickpoirier51

@rajat2004 yes that was the problem. Now I guess that we need to get the tcp multicast so the second drone will do the follow correctly ?

Rajat Singhal

@rajat2004

@patrickpoirier51 Actually, there's no TCP multicast, we can use only UDP for multicasting
WSL2 allowing only TCP is strange
The multicast is not working for WSL2? With or without the fix?

patrickpoirier51

@patrickpoirier51

@rajat2004 I could not read UDP multicast and when I try to sniff the ports I get this error

tcpdump -i lo -n udp port 14550
tcpdump: socket for SIOCETHTOOL(ETHTOOL_GET_TS_INFO): Socket type not supported

Might try from Windows with wireShark, but reading some forums it seems there is some limitiation within WSL2

This seems like a workaround:

https://github.com/microsoft/WSL/issues/4150#issuecomment-504209723

patrickpoirier51

@patrickpoirier51

on this therad there is this link

https://github.com/shayne/go-wsl2-host

Might try it later ;-).... for the moment I move to next experiments with RL scripts

patrickpoirier51

@patrickpoirier51

@rajat2004 I just realised that when we use SITL without mavproxy, there is no method to attach to UDP stack, we can connect using TCP.

Andrew Tridgell

@tridge

@patrickpoirier51 you can use the udpclient option

for example: build/sitl/bin/arduplane --uartA=udpclient:127.0.0.1 --model plane

that will start udpclient sending to UDP 14550

you can specify port with udpclient:127.0.0.1:14550

it can also do multicast udp, which is great for swarming

patrickpoirier51

@patrickpoirier51

@tridge ok great , I couldn't find this info anywhere 🙃

So the Airsim follow script should use this method?

Andrew Tridgell

@tridge

@patrickpoirier51 you can use --mcast to sim_vehicle.py

also see examples in libraries/SITL/examples/Morse

those use multicast to have several vehicles on the same network

thefallenangel666

@thefallenangel666

Hey guys,

I'm currently new to the opensource and ardupilot community

And I've read all the documentations pretty well given on tye website

And I need some help to find a beginner level bug to fix to begin with

Harshit Kumar Sankhla

@harshitsankhla

@thefallenangel666 you can start by checking the issues labelled as good first issues in the github repository, also to increase your acquaintance with the overall ecosystem you can setup and play around with the SITL

thefallenangel666

@thefallenangel666

Thanks a lot Harshit will do!

FAIZALR

@FAIZALR

@tridge can we RC over ride thr vehicle independently in same time?

Siddharth Vudikavalasa

@sidvud98

Hello, I'm a beginner here. I have gone through the http://ardupilot.org/dev/docs to find that SITL has been tested only till ubuntu 16.04. Are those documents outdated? Does SITL run on ubuntu 18.04 now?

Mark Whitehorn

@kd0aij

SITL works on 18.04

I guess http://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html needs to be updated