make that does the copy in var/lib/python, but it is also checking out the correct submodule version, so that would discard your manual checkout unless you do a commitmaybe running
make pprzlink_protocol is enough to regenerate messages and lib and it does not change the submodule revision
make libpprzlink and it starts with a submodule update
Hey everybody,
I'm trying to communicate with paparazzi (ivy) using ROS. My goal is to receive NAVdata and send attitude and thrust commands to an AR.Drone 2.0 using ROS cmd_vel instead of a RC, while also reading sensors information. There's any guide available on how to achieve this? I followed the one available at http://wiki.paparazziuav.org/wiki/Pprzros to create a pprzros node but I received the message "PprzMessageError: Error: Msg ROTORCRAFT_STATUS has 12 fields, tried to set 13 values" (in another try I received ENERGY has 4 fields, tried to set 6 values). I'm using "ARDrone2_optitrack" airframe, but the error persists with other airframe options. I also tried to communicate using a Bebop2 and "bebop 2 22" airframe, and the same error occurs.
The nodes /pprzros/to_ros and /from_ros are created, but they do not send or receive any message. Any clue or tutorial on how can I achieve this? Thanks in advance!
The first thing to try would be to update this submodule and change the paths to point to v2 in the code (files in
pprzros/src/pprzros/ directory).This code is unfortunately not much used and should be improved to used the correct library, eventually directly the one installed by Paparazzi main code itself.
It is now using the latest version of pprzlink, with protocol v2 by default. It should also load the Paparazzi lib instead of the submodule if
PAPARAZZI_HOME is definedI don't have ROS on my computer at the moment to test it, so feedback on this is very welcome
The update version worked, so I can read from the ARDrone telemetry using ivy and ROS.
Now I'm figuring out a way to send the attitude and thrust references to the drone via ROS. Do you suggest a way on how this can be done? I'm reading the paparazzi docs to better understand the system and do the job. Thanks again!
One way to control attitude and thrust is to send the
RC_4CH message with the radio control type datalink, so basically taking the place of the safety RC.If you want to keep the real RC, another way is to send
JOYSTICK_RAW message and use the joystick module with a flight plan like this: https://github.com/paparazzi/paparazzi/blob/master/conf/flight_plans/rotorcraft_joystick_enac.xmlIt is not as easy to understand, but basically, if you go the
joystick block in NAV mode, you give control to your external joystick / ROS module
Hi, I cannot get paparazzi working on my AR2 drone. This is the error message I get. Anybody has some suggestions? CC version:
arm-none-linux-gnueabi-gcc (Sourcery CodeBench Lite 2012.03-57) 4.6.3
/home/pc20/paparazzi/var/aircrafts/ardrone2/ap/modules/computer_vision/lib/vision/image.o: In function image_create':
/home/pc20/paparazzi/sw/airborne/modules/computer_vision/lib/vision/image.c:62: undefined reference toaligned_alloc'
collect2: ld returned 1 exit status
make[1]: [/home/pc20/paparazzi/conf/Makefile.linux:112: /home/pc20/paparazzi/var/aircrafts/ardrone2/ap/ap.elf] Error 1
make[1]: Leaving directory '/home/pc20/paparazzi/sw/airborne'
make: [Makefile.ac:310: ap.compile] Error 2
make: Leaving directory '/home/pc20/paparazzi'
FAILED 'make -C /home/pc20/paparazzi -f Makefile.ac AIRCRAFT=ardrone2 ap.compile' with code 2
image.c code have been updated last year for the bebop 1 & 2, but was not tested on Ardrone. The parrot toolchain from 2012 is too old and doesn't have this function in the libc.the first thing to try is to use the 2016 toolchain that may work for the ardrone 2: https://firmware.parrot.com/Toolchains/parrot-tools-linuxgnutools-2016.02-linaro_1.0.0-5_amd64.deb
We have a new beginner documentation (still in construction) in addition to the wiki: https://paparazzi-uav.readthedocs.io/en/latest/
The second one is still very short, but the "Quick Start" guide should be good enough already, and all feedback to improve it are welcome
sw/airborne/subsystems/radio_control/rc_datalink.c.
What you can try is to log on the drone with telnet, then start the ap.elf by hand from here. If it is crashing, maybe you'll get additional info from the terminal output.
Hi @gautierhattenberger Thank you for your help. Hopefully you find the time to send a working ap.elf file. I have tried to arm-2012.03 (for AR2) but get error related to image.o and image.c I also followed the suggestion to try the arm-2016.02-linaro but get error about stubs-soft.h: No such file. These are my error messages:arm-2016.02-linaro
CC /home/pc20/paparazzi/var/aircrafts/ardrone2/ap/boards/ardrone/board.o
Using CC = /opt/arm-2016.02-linaro/bin/arm-linux-gnueabihf-gcc
CC /home/pc20/paparazzi/var/aircrafts/ardrone2/ap/mcu.o
GCC version:
CC /home/pc20/paparazzi/var/aircrafts/ardrone2/ap/arch/linux/mcu_arch.o
arm-linux-gnueabihf-gcc (Linaro GCC 4.9-2016.02) 4.9.4 20151028 (prerelease)
CC /home/pc20/paparazzi/var/aircrafts/ardrone2/ap/mcu_periph/sys_time.o
In file included from /opt/arm-2016.02-linaro/arm-linux-gnueabihf/libc/usr/include/features.h:402:0,
from /opt/arm-2016.02-linaro/arm-linux-gnueabihf/libc/usr/include/inttypes.h:25,
from /home/pc20/paparazzi/sw/airborne/mcu_periph/sys_time.h:33,
from mcu_periph/sys_time.c:30:
/opt/arm-2016.02-linaro/arm-linux-gnueabihf/libc/usr/include/gnu/stubs.h:7:29: fatal error: gnu/stubs-soft.h: No such file or directory
include <gnu/stubs-soft.h>
arm-2012.03
arm-none-linux-gnueabi-gcc (Sourcery CodeBench Lite 2012.03-57) 4.6.3
/home/pc20/paparazzi/var/aircrafts/ardrone2/ap/modules/computer_vision/lib/vision/image.o: In function image_create':
/home/pc20/paparazzi/sw/airborne/modules/computer_vision/lib/vision/image.c:62: undefined reference toaligned_alloc'
collect2: ld returned 1 exit status
make[1]: [/home/pc20/paparazzi/conf/Makefile.linux:112: /home/pc20/paparazzi/var/aircrafts/ardrone2/ap/ap.elf] Error 1
make[1]: Leaving directory '/home/pc20/paparazzi/sw/airborne'
make: [Makefile.ac:310: ap.compile] Error 2
make: Leaving directory '/home/pc20/paparazzi'
FAILED 'make -C /home/pc20/paparazzi -f Makefile.ac AIRCRAFT=ardrone2 ap.upload' with code 2
you can check this pull request: paparazzi/paparazzi#2598
I can't test it now, but it is just "reverting" the modification on this file to use a standard alloc like it was before when the glibc is too old
please report here or on github if it is working or not
Hi @gautierhattenberger. The suggested change seems to have a positive effect. Thanks!!. I do still get an error, but it also says: #pragma message: Succesfully started "ap.elf" on Ardrone 2 (i will further investigate this in the weekend). The error message is as such: Parrot version: 0.0.0.0
Traceback (most recent call last):
File "/home/pc20/paparazzi/sw/tools/parrot/ardrone2.py", line 345, in <module>
ardrone2.parse_args()
File "/home/pc20/paparazzi/sw/tools/parrot/parrot_utils.py", line 359, in parse_args
self.status()
File "/home/pc20/paparazzi/sw/tools/parrot/parrot_utils.py", line 225, in status
self.uav_status()
File "/home/pc20/paparazzi/sw/tools/parrot/ardrone2.py", line 58, in uav_status
' (' + self.read_from_config('static_ip_address_base') +
File "/home/pc20/paparazzi/sw/tools/parrot/ardrone2.py", line 42, in read_from_config
search = re.search(name + '[^=]+=\r\n\t ',self.config_content)
File "/usr/lib/python3.8/re.py", line 199, in search
return _compile(pattern, flags).search(string)
TypeError: cannot use a string pattern on a bytes-like object
make[1]: [/home/pc20/paparazzi/conf/Makefile.ardrone2:33: upload] Error 1
make[1]: Leaving directory '/home/pc20/paparazzi/sw/airborne'
make: [Makefile.ac:313: ap.upload] Error 2
make: Leaving directory '/home/pc20/paparazzi'
FAILED 'make -C /home/pc20/paparazzi -f Makefile.ac AIRCRAFT=ardrone2 ap.upload' with code 2
Do you have any suggestions about what is holding the RC_4CH commands in int8? Do I need to change any definitions in datalink files? My concern is because I saw this warning in messages.xml joystick section "Standard joystick axis values are on 16 bits signed integers, but tools like 'input2ivy' may scale them on int8 type."
Eventually, you can open an issue for that in Github, so we don't forget about it.
diff --git a/sw/tools/parrot/parrot_utils.py b/sw/tools/parrot/parrot_utils.py
index d092582db..3c6b56024 100644
--- a/sw/tools/parrot/parrot_utils.py
+++ b/sw/tools/parrot/parrot_utils.py
@@ -131,7 +131,7 @@ class ParrotUtils:
s = s[len(command) + 2:-12]
else:
s = s[len(command) + 2:-4]
- return s
+ return s.decode('utf-8')
# Upload ftp and catch memory-full error
def upload(self, filename, content):I took a look at the files and didn't figured out a way to send the messages, i.e., how to configure an output to be read into paparazzi, and how to include this reading in the pprz session that is running.
Thanks again for your help! I'll keep trying.
RC_4CH message and the reception on the autopilot side, their is no problem to send commands with 16 bit scaling from ROS.The issue with input2ivy is only if you what to use this tool to control from a joystick, without ROS. But if your control is coming from ROS, just pack a PprzMsg in a ROS message and pprzros should translate it to Ivy correctly.
From what I can see, I goes well on the ground side, so either the message is truncated when sending, or wrongly parsed upon reception. Since you use ARDrone, you can do debug with printf if needed. You'll just need to start or restart the autopilot by hand from the telnet console.
path instruction for the A and T. Use a circle for the O. The S is more complex to make it with circles, but using several waypoints should be good enough.I also suggest to reduce the maximum flight speed to avoid overshoot.
You should check the file
var/include/pprzlink/datalink/RC_4CH.h to be sure that it is parsing 16bits values and not 8bits.
@chris-djong changing the wind in simulation is achieved with the
WORLD_ENVandWORLD_ENV_REQground message (http://docs.paparazziuav.org/latest/paparazzi_messages.html#WORLD_ENV), so you need a ground agent connected to the Ivy bus.
Here is an example : https://github.com/paparazzi/paparazzi/blob/master/sw/simulator/mesonh/mesonh.py
The idea is that you subscribe to theWORLD_ENV_REQthat is sent by the simulator requesting the wind at the specified position. Then you answer withWORLD_ENVmessage, which contains the wind information (and a few other fields)
@gautierhattenberger I tried to implement the ground agent inspired on mesonh.py example. In my example the world_env_cb is executed successfully each second and the WORLD_ENV message is send (as seen in paparazzi Messages tool), but unfortunately the drone is not reacting to any changes in the normal SIM environment. Increasing the wind speed of the ground agent to 50 m/s, for example, will not change anything in the simulation itself.
As soon as I enable gaia, however, the drone keeps reacting to the wind changes of the gaia WORLD_ENV message, but as soon as a callback of my agent is received the wind returns to 0, until gaia sends the next WORLD_ENV message.
Do you have an idea what I might be missing? Here is a copy of the ground agent that I use as well: https://github.com/chris-djong/paparazzi/blob/neverlandingdrone/sw/ground_segment/python/wind_generator/wind_generator.py
sim target is only reacting to the "request" format (so sim sends WORLD_ENV_REQ and someone may reply a valid WOLRD_ENV see http://wiki.paparazziuav.org/wiki/DevGuide/Server_GCS_com#Advanced_request_mechanism).The
nps simulator can react to both request format and direct messages (that was needed on some projects where we don't want to rely on the request frequency of the simulator).So you can either try to fly with NPS, or implement the request mechanism (the latest PPRZLINK API for python does that, but mesonh example was too old)