diff --git a/aerial_robot/package.xml b/aerial_robot/package.xml index 57ed2a146..0abec862e 100644 --- a/aerial_robot/package.xml +++ b/aerial_robot/package.xml @@ -21,6 +21,7 @@ gimbalrotor hydrus hydrus_xi + mini_quadrotor motor_test spinal python-is-python3 diff --git a/aerial_robot_base/config/sensors/imu/spinal.yaml b/aerial_robot_base/config/sensors/imu/spinal.yaml new file mode 100644 index 000000000..a3a92f89f --- /dev/null +++ b/aerial_robot_base/config/sensors/imu/spinal.yaml @@ -0,0 +1,9 @@ +sensor_plugin: + imu: + imu_topic_name: imu + level_acc_noise_sigma: 0.05 + z_acc_noise_sigma: 0.05 + level_acc_bias_noise_sigma: 0.001 # (> 0 means to do the acc bias estimation by kalman filter) + z_acc_bias_noise_sigma: 0.001 # (= 0 means not to do the acc bias estimation by kalman filter) + angle_bias_noise_sigma: 0.0002 #good for EKF + calib_time: 2.0 diff --git a/robots/mini_quadrotor/CMakeLists.txt b/robots/mini_quadrotor/CMakeLists.txt new file mode 100644 index 000000000..46145fb0d --- /dev/null +++ b/robots/mini_quadrotor/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 3.0.2) +project(mini_quadrotor) + +find_package(catkin REQUIRED) + +catkin_package( + CATKIN_DEPENDS aerial_robot_control aerial_robot_estimation aerial_robot_model +) + +install(DIRECTORY config launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + USE_SOURCE_PERMISSIONS +) + +if(CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) + add_subdirectory(test) +endif() diff --git a/robots/mini_quadrotor/config/Battery.yaml b/robots/mini_quadrotor/config/Battery.yaml new file mode 100644 index 000000000..cc7a84066 --- /dev/null +++ b/robots/mini_quadrotor/config/Battery.yaml @@ -0,0 +1,5 @@ +bat_info: + bat_cell: 3 + bat_resistance: 0.04 # [m Ohm] + hovering_current: 15 #[A] + low_voltage_thre: 10 #[100%] diff --git a/robots/mini_quadrotor/config/FlightControl.yaml b/robots/mini_quadrotor/config/FlightControl.yaml new file mode 100644 index 000000000..b1e1fe000 --- /dev/null +++ b/robots/mini_quadrotor/config/FlightControl.yaml @@ -0,0 +1,54 @@ +aerial_robot_control_name: aerial_robot_control/under_actuated_tilted_lqi_controller + +controller: + xy: + p_gain: 5.0 + i_gain: 0.05 + d_gain: 3.0 + limit_sum: 3 + limit_p: 3 + limit_i: 1.5 + limit_d: 3 + + z: + p_gain: 5.0 + i_gain: 2.5 + d_gain: 5.0 + limit_err_p: 1.0 + limit_sum: 10 # N for clamping thrust force + limit_p: 20 # m / s^2 + limit_i: 40 # m / s^2 + limit_d: 20 # m / s^2 + landing_err_z: -0.2 + force_landing_descending_rate: -0.6 + + yaw: + limit_sum: 6.0 # N for clamping thrust force + limit_p: 4.0 + limit_i: 4.0 + limit_d: 4.0 + limit_err_p: 0.4 + need_d_control: false + + # LQI gain generator + lqi: + gain_generate_rate: 15.0 + gyro_moment_compensation: true + clamp_gain: true + + roll_pitch_p: 20 + roll_pitch_i: 0.5 + roll_pitch_d: 0.15 + + yaw_p: 60 + yaw_i: 0.5 + yaw_d: 1.0 + + r1: 1.0 + r2: 1.0 + r3: 1.0 + r4: 1.0 + + trans_constraint_weight: 100 + att_control_weight: 1 + diff --git a/robots/mini_quadrotor/config/MotorInfo.yaml b/robots/mini_quadrotor/config/MotorInfo.yaml new file mode 100644 index 000000000..05d69dada --- /dev/null +++ b/robots/mini_quadrotor/config/MotorInfo.yaml @@ -0,0 +1,24 @@ +motor_info: # TODO: update + min_pwm: 0.6 # 1200 [ms] + max_pwm: 0.975 # 1950 [ms] + min_thrust: 0 # [N] + force_landing_thrust: 1.0 #[N] + pwm_conversion_mode: 1 # Polynominal Mode + vel_ref_num: 2 + ref1: + voltage: 11 + max_thrust: 7.2 # N + polynominal4: -168.952346 # -0.0168952346 x10^4 + polynominal3: 308.7473666 # 0.3087473666 x10^3 + polynominal2: -203.28702334 # -2.0328702334 x10^2 + polynominal1: 106.787265636 # 10.6787265636 x10 + polynominal0: 56.3518258750 # 56.3518258750 x1 + ref2: + voltage: 12 + max_thrust: 8.0 # N + polynominal4: -39.838825 # -0.0039838825 x10^4 + polynominal3: 112.1897517 # 0.1121897517 x10^3 + polynominal2: -101.84075291 # -1.0184075291 x10^2 + polynominal1: 81.582961230 # 8.1582961230 x10 + polynominal0: 56.9010618089 # 56.9010618089 x1 + diff --git a/robots/mini_quadrotor/config/NavigationConfig.yaml b/robots/mini_quadrotor/config/NavigationConfig.yaml new file mode 100644 index 000000000..9431be56e --- /dev/null +++ b/robots/mini_quadrotor/config/NavigationConfig.yaml @@ -0,0 +1,30 @@ +# Teleop Basic Param + +navigation: + xy_control_mode: 0 + # World Pos Control Mode: 0 + # World Vel Control Mode: 2 + # Local Vel Control Mode: 3 + # Attitude Control Mode: 4 + + + takeoff_height: 1.0 #1.0 + outdoor_takeoff_height: 1.5 + + # teleop operation + max_target_vel: 0.5 + joy_target_vel_interval: 0.005 # 0.2 / 20 = 0.01, 0.005 ~ 0.01 m/s + joy_target_z_interval: 0.02 + max_target_yaw_rate: 0.1 # 0.05 + teleop_local_frame: fc + + cmd_vel_lev2_gain : 2.0 + nav_vel_limit : 1.0 + + gain_tunning_mode: 0 + max_target_tilt_angle: 0.2 + cmd_angle_lev2_gain : 1.5 + + # gps waypoint + gps_waypoint_threshold: 3.0 + gps_waypoint_check_du: 1.0 diff --git a/robots/mini_quadrotor/config/RobotModel.yaml b/robots/mini_quadrotor/config/RobotModel.yaml new file mode 100644 index 000000000..2df0aa340 --- /dev/null +++ b/robots/mini_quadrotor/config/RobotModel.yaml @@ -0,0 +1,11 @@ +# robot model plugin +robot_model_plugin_name: multirotor_robot_model + +wrench_mat_det_thre: 0 + +# feasible control configuration +fc_t_min_thre: 0.01 +fc_rp_min_thre: 1.8 +rp_position_margin_thre: 0.13 # deprecated + + diff --git a/robots/mini_quadrotor/config/RvizInit.yaml b/robots/mini_quadrotor/config/RvizInit.yaml new file mode 100644 index 000000000..b3bbaabd4 --- /dev/null +++ b/robots/mini_quadrotor/config/RvizInit.yaml @@ -0,0 +1,9 @@ +zeros: + rotor1: 0 + rotor2: 0 + rotor3: 0 + rotor4: 0 + rotor5: 0 + rotor6: 0 + rotor7: 0 + rotor8: 0 \ No newline at end of file diff --git a/robots/mini_quadrotor/config/Simulation.yaml b/robots/mini_quadrotor/config/Simulation.yaml new file mode 100644 index 000000000..0d17670f5 --- /dev/null +++ b/robots/mini_quadrotor/config/Simulation.yaml @@ -0,0 +1,28 @@ +# overwrite parameter for simulation + +sensor_plugin: + mocap: + ground_truth_sub_name: ground_truth + gps: + estimate_mode: 4 #1 << 2 + ned_flag: true # hector_gazebo_plugins/GPS + +# ground truth parameter +# global namespace +simulation: + # gaussian noise + ground_truth_pos_noise: 0.001 + ground_truth_vel_noise: 0.005 + ground_truth_rot_noise: 0.001 + ground_truth_angular_noise: 0.005 + + # drift model: e^(-dt * drift_frequency) * curr_drift + dt * gaussian_kernel(sqrt( 2 * drift_frequency) * drfit)) + # drift diviation: + ground_truth_vel_drift: 0 + ground_truth_rot_drift: 0 + ground_truth_angular_drift: 0 + + # drift frequency: + ground_truth_vel_drift_frequency: 0 + ground_truth_rot_drift_frequency: 0 + ground_truth_angular_drift_frequency: 0 diff --git a/robots/mini_quadrotor/config/StateEstimation.yaml b/robots/mini_quadrotor/config/StateEstimation.yaml new file mode 100644 index 000000000..2dc2b44ef --- /dev/null +++ b/robots/mini_quadrotor/config/StateEstimation.yaml @@ -0,0 +1,47 @@ +# Sensor Fuser Loader +estimation: + # sensor plugin + sensor_list: + - sensor_plugin/imu + - sensor_plugin/mocap + + # egomotion estimation + egomotion_list: + - kalman_filter/kf_pos_vel_acc + - kalman_filter/kf_pos_vel_acc + - kalman_filter/kf_pos_vel_acc + + # experiment estimation + experiment_list: + - kalman_filter/kf_pos_vel_acc + - kalman_filter/kf_pos_vel_acc + - kalman_filter/kf_pos_vel_acc + + # specific id(int) of sensor fuser, axis for kf + fuser_egomotion_id1: 8 # 1 << 3 + fuser_egomotion_id2: 16 # 1 << 4 + fuser_egomotion_id3: 32 # 1 << 5 + + fuser_experiment_id1: 8 # 1 << 3 + fuser_experiment_id2: 16 # 1 << 4 + fuser_experiment_id3: 32 # 1 << 5 + + # specific name of sensor fuser + fuser_egomotion_name1: /ee/x + fuser_egomotion_name2: /ee/y + fuser_egomotion_name3: /ee/z + + fuser_experiment_name1: /ex/x + fuser_experiment_name2: /ex/y + fuser_experiment_name3: /ex/z + + +# EGOMOTION_ESTIMATION_MODE = 0 +# EXPERIMENT_MODE = 1 +# GROUND_TRUTH_MODE = 2 + +sensor_plugin: + imu: + estimate_mode: 3 # 1<<0 + 1<<1 + mocap: + estimate_mode: 6 # 1<<1 + 1<<2 diff --git a/robots/mini_quadrotor/config/rviz_config b/robots/mini_quadrotor/config/rviz_config new file mode 100644 index 000000000..246418020 --- /dev/null +++ b/robots/mini_quadrotor/config/rviz_config @@ -0,0 +1,226 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /TF1 + - /RobotModel1 + Splitter Ratio: 0.5 + Tree Height: 539 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + quadrotor/battery: + Value: true + quadrotor/cog: + Value: true + quadrotor/fc: + Value: true + quadrotor/main_body: + Value: true + quadrotor/root: + Value: true + quadrotor/thrust1: + Value: true + quadrotor/thrust2: + Value: true + quadrotor/thrust3: + Value: true + quadrotor/thrust4: + Value: true + world: + Value: true + Marker Alpha: 1 + Marker Scale: 0.30000001192092896 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + world: + quadrotor/root: + quadrotor/cog: + {} + quadrotor/main_body: + quadrotor/battery: + {} + quadrotor/fc: + {} + quadrotor/thrust1: + {} + quadrotor/thrust2: + {} + quadrotor/thrust3: + {} + quadrotor/thrust4: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + battery: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fc: + Alpha: 1 + Show Axes: false + Show Trail: false + main_body: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + root: + Alpha: 1 + Show Axes: false + Show Trail: false + thrust1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + thrust2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + thrust3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + thrust4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: quadrotor/robot_description + TF Prefix: quadrotor + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 0.6198296546936035 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0.11685173213481903 + Y: 0.015681469812989235 + Z: -0.10268925130367279 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.1597973108291626 + Target Frame: + Yaw: 2.920400381088257 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 836 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1528 + X: 72 + Y: 27 diff --git a/robots/mini_quadrotor/launch/bringup.launch b/robots/mini_quadrotor/launch/bringup.launch new file mode 100644 index 000000000..0730937ab --- /dev/null +++ b/robots/mini_quadrotor/launch/bringup.launch @@ -0,0 +1,93 @@ + + + ########### launch config ########### + + + + + + + + + + + + + + + + + + + + ########### Parameters ########### + + + ########### Basic Param ########### + # EGOMOTION_ESTIMATE = 0 + # EXPERIMENT_ESTIMATE = 1. for unstable mocap, use this mode + # GROUND_TRUTH = 2 + + + + + + + ########### Motor Config ########### + + + ########### Battery Config ########### + + + ########### Control ########### + + + ########### Sensor Fusion ########### + + + + ########### Navigation ########### + + + + ########### Base Platform ########### + + + + + + + ########### Robot Model ########### + + + + + + + + + + + + + ########### Sensors ########### + + + + + + + ########## Simulation in Gazebo ######### + + + + + + + + + + + + + diff --git a/robots/mini_quadrotor/launch/includes/sensors.launch.xml b/robots/mini_quadrotor/launch/includes/sensors.launch.xml new file mode 100644 index 000000000..50075cd09 --- /dev/null +++ b/robots/mini_quadrotor/launch/includes/sensors.launch.xml @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robots/mini_quadrotor/package.xml b/robots/mini_quadrotor/package.xml new file mode 100644 index 000000000..a6eb1696d --- /dev/null +++ b/robots/mini_quadrotor/package.xml @@ -0,0 +1,23 @@ + + + mini_quadrotor + 1.3.2 + The basic packages for mini quadrotor + + Bakui Chou + BSD + https://github.com/JSKAerialRobot/aerial_robot + Bakui Chou + + catkin + + aerial_robot_base + aerial_robot_control + aerial_robot_estimation + aerial_robot_model + aerial_robot_msgs + aerial_robot_simulation + + rostest + + diff --git a/robots/mini_quadrotor/test/CMakeLists.txt b/robots/mini_quadrotor/test/CMakeLists.txt new file mode 100644 index 000000000..4cf080779 --- /dev/null +++ b/robots/mini_quadrotor/test/CMakeLists.txt @@ -0,0 +1 @@ +add_rostest(flight_control.test ARGS headless:=true) diff --git a/robots/mini_quadrotor/test/flight_control.test b/robots/mini_quadrotor/test/flight_control.test new file mode 100644 index 000000000..646b531fc --- /dev/null +++ b/robots/mini_quadrotor/test/flight_control.test @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + topics: + - name: uav/cog/odom + timeout: 5.0 + + + + + + + hovering_delay: 5.0 + hovering_duration: 10.0 + convergence_thresholds: [0.02, 0.02, 0.02] # hovering threshold + + + + diff --git a/robots/mini_quadrotor/urdf/mesh/main_body.dae b/robots/mini_quadrotor/urdf/mesh/main_body.dae new file mode 100644 index 000000000..873a9144e --- /dev/null +++ b/robots/mini_quadrotor/urdf/mesh/main_body.dae @@ -0,0 +1,224 @@ + + + + + Blender User + Blender 3.0.1 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