Where communities thrive


  • Join over 1.5M+ people
  • Join over 100K+ communities
  • Free without limits
  • Create your own community
People
Repo info
Activity
    Fnoop
    @fnoop
    i suspect though that the full-size onboard usb port has a much larger metallic area to radiate from. The embedded version is so much smaller without the large metal plate, so a small amount of shielding that you can see on the pics above probably do a very good job. I found that almost all the leaking was from the ports, not from the cable or wires
    patrickpoirier51
    @patrickpoirier51
    @amilcarlucas about gazebo, you mean it cannot hold position with OF only?
    Thien Nguyen
    @hoangthien94
    Some useful information for the discussion about T261:
    image.png
    If T261/T265 is being connected to host system via USB hub, keep in mind that T261/T265 will enter into USB enumeration protocol as soon as 5V has been provided on VBUS pin. USB protocol is handled by the Movidius MA215x device. Make sure USB hub is connected and enumerated to host system prior to power being supplied to T261/T265.
    Jaime Machuca
    @jmachuca77
    Yeah that’s a major PIA at the moment we cannot use the t265 on a real product as it won’t come up on boot automatically, you have to unplug it and plug it back in after the companion has booted or you need to do a special circuit to turn power on and off to the T265
    patrickpoirier51
    @patrickpoirier51
    @jmachuca77 I wonder if its exactly the goal to release a barebone unit so they can tell the integrators that thy are now getting access to the core of unit so they can implement whatever can ''make it work" .... oh... and by the way , the FCC certification monkey is now on your back .. ;-)
    Pierre Kancir
    @khancyr
    @amilcarlucas in which mode ? on all gps based mode it should work
    EKathe
    @EKathe
    Hi everyone, I'm in @amilcarlucas developing team.
    @khancyr and @patrickpoirier51: We try to test precision landing/loiter with Aruco-Markers, a downward facing (simulated) camera and Mavros with the Gazebo-simulation. When we just fly with GPS over the tag, everything is fine and stable! But if we then switch to "Precision Loiter" or "Precision Landing", the drone flies forward, until the landing tag is not visible anymore. Here comes another weird part: If we force it to loiter over the tag by correcting the position with the RC-remote, this effect asymptotically "calms down" within 10 minutes until it is possible to do the precision loiter and landing. In the "real world", the software is perfectly working and the drone already landed over a hundred times. All camera calibrations etc. are correct, I even did "printf"s of the landing target position in the NED-frame in the arducopter code while simulating and it was correct...
    Pierre Kancir
    @khancyr
    did you enable the right backend on SITL for precland ?
    EKathe
    @EKathe
    We used the companion backend with mavros
    patrickpoirier51
    @patrickpoirier51
    @EKathe are your transformation OK ?
    I mean ENU-NED and Cameralink-Baselink stuff
    Getting it from ROS to AP and back to ROS on Gazebo can be tricky sometimes
    Amilcar Lucas
    @amilcarlucas
    It does work, once the system setells after a few initial minutes of flying in loiter
    EKathe
    @EKathe
    @patrickpoirier51 i know, but the transformations are correct and tested/checked
    patrickpoirier51
    @patrickpoirier51
    @EKathe yeah... I just saw that @amilcarlucas confirmed it to work with a delay
    I wonder why it takes so long to get the system stabilized @khancyr any clue ?
    Pierre Kancir
    @khancyr
    previously, it was working very from begginning. I don't have computer that can handle gazebo for now, but I should be able to debug that on january
    (yep that is long ... )
    patrickpoirier51
    @patrickpoirier51
    Relaxe Max , Ya pas l'feu ;-)
    Might take a look as well
    Amilcar Lucas
    @amilcarlucas
    @patrickpoirier51 @khancyr Merci :)
    Shervin Emami
    @shervinemami
    Apparently this embedded vision AI platform is going to have software & marketplace support by OpenCV next year, meaning it should be a relatively easy way to use visual AI in your own projects! (As an alternative to a GPU accelerated Jetson Nano): https://www.crowdsupply.com/luxonis/depthai
    patrickpoirier51
    @patrickpoirier51
    @EKathe can you elaborate on your setup so I can reproduce?
    Braedon O'Meara
    @bromeara
    Has anyone been looking at 3D off-board path planning and care to share what theyve been looking at? pose_follower_3d which was mentioned in some of Randy's talks hasn't been updated since 2013 so I was wondering if there were any more current artifacts being evaluated or used.
    Braedon O'Meara
    @bromeara
    It sounded like there may have been some other solutions suggested at the 2019 unconference talk on object avoidance but I couldnt hear them due to the audio
    EKathe
    @EKathe
    Hi @patrickpoirier51 , we were using Gazebo multi-robot simulator, version 9.0.0, latest version of SwiftGust/ardupilot_gazebo master-branch , Mavros version 0.33.0, Arducopter 3.6 and also 4.0... We now try a new clean install on a different computer and will give you an update
    EKathe
    @EKathe
    image (2).png
    Here is a rather large log-file. the drone was in precision loiter mode. You can see over a long time the drone was able to fly over the center of the aruco-tag. The spikes come from testing with the tag, so moving it in x and y direction.. https://drive.google.com/file/d/1Dh2xYarFTfrARLasqFFrGZhLyGsaGU7l/view?usp=sharing
    patrickpoirier51
    @patrickpoirier51
    @EKathe ok. I am working on a non-ros implementation and I will update soon
    EKathe
    @EKathe
    Thank you!
    Coby
    @cglusky
    @shervinemami thanks for link to DepthAI campaign. Surprised more people are not really excited by this. I must be missing something.
    EKathe
    @EKathe
    So I was debugging and finally found the bug. It was totally on our side, sorry!
    It is actually quite funny: We used the standard model of the drone and connected a camera to the bottom. The problem is the camera was a little bit too deep and slightly in contact with the ground. This caused small vibrations (not really visible from outside but in the logs) to the drone, which caused a bad gyro calibration before the start. So the drone got wrong gyro-measurements in flight and a wrong horizon.. I think it stabilized over time because the acc-measurements were still good.
    Sorry for taking your time and thanks for all the help! It works pretty well right now!
    patrickpoirier51
    @patrickpoirier51
    @EKathe Cool, Actually it triggered a nice add-on project to the existing @khancyr gazebo setup that will allow for April Tage Tracking from the Gazebo Camera ;-)
    EKathe
    @EKathe
    That sounds cool! So it was not in vain :-)
    Pierre Kancir
    @khancyr
    the fiducial input on SITL is generic, only gazebo got an implementation but normally, you could any sender !
    I will update largely the gazebo sim next year and the calibration too. We should be able to fly manually on gazebo without pain
    patrickpoirier51
    @patrickpoirier51
    @khancyr @EKathe This is my preliminary work
    image.png
    Camera view (C program) of a AprilTag on the grass at 3 Meter with the Python Script detecting localisation within camera frame and outputting landing_target to SITL
    patrickpoirier51
    @patrickpoirier51
    I tried compuling GAzebo for Gstreamer output but cant get it to work this is why I am using an external process to get the GAzebo Camera Frame to Gstreamer
    Alfredo Bencomo
    @IeiuniumLux
    @khancyr although it targets the PX4 firmware and QGC, you might want to take a look at the osrf/rocker project since it also uses gazebo without pain.
    https://github.com/osrf/rocker
    https://github.com/osrf/rviz_aerial_plugins
    Pierre Kancir
    @khancyr
    Hello, thanks for the link. But my issue isn't on how to use gazebo but having the hardware to use it ;-P
    patrickpoirier51
    @patrickpoirier51
    Just popped on FB
    Harshit Kumar Sankhla
    @harshitsankhla
    Hi. Are there any known issues of using MAVROS with Copter 3.6, was trying to get GPS coordinates (/mavros/global_position/raw/fix) from my quad but got no message, but when the setup was flashed with PX4 (5 minutes later) I was getting the values. Any speculations ?
    Amilcar Lucas
    @amilcarlucas
    Make sure the SR_ rates do send that message, or explicitly ask for that one . Otherwise it will not work.
    Amilcar Lucas
    @amilcarlucas
    Nhat Anh
    @SHikumo
    I have done camera calibration and do measure distance to object using monocular camera ( using math ) , object will be detected by using yolo v3. Now i am kind of struggle with control using dronekit