alessiotonioni / autonomous-flight-ros Goto Github PK

Hi Alessio

I was wondering if I can please have your advice on a project I'm working on for my university, since I can see you are really experienced in ROS and drone.

I have an indoor system, 4 physical waypoints and one anchor(master) attached to a raspberry pi , which is then placed on top of a drone(ardrone2.0). This anchor gets all the coordinates(xyz) from all the waypoints on the ground. So I don't have any maps or obstacle detection system or slam.

I was wondering what would be your approach on telling the drone to go from xyz(drone position) to xyz(waypoint)? All ros packages seem to require slam or other unnecessary packages.

Thanks in advance.

Hi Alessio,

Did you face an error saying 'Group quadrotor is not a chain. Kinematic solver cannot be initialized!' ? I'm facing this issue when I try to run Moveit! demo.launch or move_group.launch. Any suggestions ?

Ankit

Hello, I'm very new to ros, gazebo and rviz etc.
I succesfully compiled the project. I can do plan the path in rviz.
However, when i execute the planned path generated, the quadrotor in gazebo is not follwoing the path generated.
I'm not sure why ...

I have compiled the package successfully.It seems that when I typed: sh 1-simulator.sh and 2-controller.sh and 3-planner sh, I can see the GUI successfully. and when I run sh 3-planner, I can see the gui of rviz. While firstly , there is no fixed frame called map,when I change the frame to base_link ,and add the moveit plugin, I can see the quadrotor with iteratct markers. When I select a end point for the quadrotor and press "plan and execute", the quadrotor can fly to its destination successfully. But nothings happens in Gazebo, the quadrotor in gazebo just land without any movement. What should I do next if I want to see the octomap built by the quadtor? Or is there anything go wrong as I described above? So many thanks!

Hi,
i was trying to testing this project. But when i enter $ $rostopic echo cmd_vel,nothing appear.
Any body know why nothing appear?
I am sure i have public cmd_vel.

Hello!
Currently, I have no problem planning a motion but the problem happens when i execute my planning from moveit to gazebo, it gives the error: "Failed to validate trajectory: couldn't receive full current joint state within 1s".

I'm currently using ros indigo, gazebo 2.2.6, moveit last update (Feb 2017), ubuntu 14.04 trusty.

In the terminal, when i try to plan and execute a valid state, the screenshot is attached in the link below https://drive.google.com/file/d/0B0_mv7dnS9ezbzNQUHlRWlc5Tlk/view?usp=sharing

The rqt_graph is attached in the link below.
https://drive.google.com/file/d/0B0_mv7dnS9ezVnpTVUs1YVVJMk0/view?usp=sharing

I will be grateful if you could help me on this problem. Thanks you..

Can you provide some reference to the kinematic and dynamics equations of the quadrotor considered while motion planning and how they have been integrated while using moveIt? How do the motion planner that we find in motion planning plugin respond to the planning request as for a quadrotor?
Is the state of quadrotor represented with links analogous to state, (x,y,z,γ,β,α)
or
X = (t,x,y,z,V,β,α)
or
some other state space

Hi,

I know is been a while, but I was wondering if you know how to take off the drone?

These are my topics, after launching all your sh files.

By doing few searches online I was recommended to enable motors of hector to true but i can't see the topic /enable-motors

I also tried to run your teleop from keyboard but nothing happens, I can see it appearing in /cmd_vel nothing in gazebo or rviz.

Also I'm guessing the planned path will only display in gazebo if the drone is taking off?

PS: I'm using kinetic, nothing much changed from groovy or indigo. So I think versions shouldn't be a problem

Thanks in advance

hello.you are great.but i meet a question as follow:

[ERROR] [1476115203.675887224, 1445.853000000]: Client [/move_group] wants topic /multi_dof_joint_trajectory_action/feedback to have datatype/md5sum [action_controller/MultiDofFollowJointTrajectoryActionFeedback/bb90301ebf9ac17d9c3bcafa7a141cba], but our version has [action_controller/MultiDofFollowJointTrajectoryActionFeedback/0611ea4a62fe3c6e8470a86482016c70]. Dropping connection.

can you help me? thank you very much.

Hi Alessio,

I know is probably been a long time but I'm getting this error when I try to execute the planned path. I just copied your project everything compiles fine, but not his bit.

Do you remember if you faced this issue?

Thanks in advance

hello. i have all the package ,but catkin_make in my workspace have a promble as follow:

CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "moveit_core" with
any of the following names:

moveit_coreConfig.cmake
moveit_core-config.cmake

Add the installation prefix of "moveit_core" to CMAKE_PREFIX_PATH or set
"moveit_core_DIR" to a directory containing one of the above files. If
"moveit_core" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
pr2_teleop/CMakeLists.txt:8 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/chen/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/chen/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

can you help me?
thank you very much.