From d79ea797b38c0fbb135a6eaf43a1fd6e9815ba51 Mon Sep 17 00:00:00 2001 From: Moju Zhao Date: Mon, 5 Jun 2023 01:01:32 +0900 Subject: [PATCH 1/8] [Mini Quadrotor] create script to replay rosbag --- robots/mini_quadrotor/bin/rosbag_play.sh | 3 +++ 1 file changed, 3 insertions(+) create mode 100755 robots/mini_quadrotor/bin/rosbag_play.sh diff --git a/robots/mini_quadrotor/bin/rosbag_play.sh b/robots/mini_quadrotor/bin/rosbag_play.sh new file mode 100755 index 000000000..4e9d34f02 --- /dev/null +++ b/robots/mini_quadrotor/bin/rosbag_play.sh @@ -0,0 +1,3 @@ +#!/bin/bash + +rosbag play ${1} --clock --pause quadrotor/debug/pose/pid:=quadrotor/debug/pose/pid_orig quadrotor/kf/imu1/data:=quadrotor/kf/imu1/data_orig quadrotor/kf/mocap1/data:=quadrotor/kf/mocap1/data_orig quadrotor/uav/baselink/odom:=quadrotor/uav/baselink/odom_orig quadrotor/uav/cog/odom:=quadrotor/uav/cog/odom_orig quadrotor/uav/full_state:=quadrotor/uav/full_state_orig From df447dbf59ea6e477833f4fa508321912a1ae83d Mon Sep 17 00:00:00 2001 From: Moju Zhao Date: Fri, 2 Jun 2023 13:50:50 +0900 Subject: [PATCH 2/8] [Mini Quadrotor] create the quadrotor model with 3D LiDAR of Livox MID360 --- .../mini_quadrotor/bin/rosbag_livox_record.sh | 3 + robots/mini_quadrotor/bin/rosbag_record.sh | 3 + .../config/NavigationConfig.yaml | 2 +- .../launch/includes/sensors.launch.xml | 8 + .../urdf/mesh/main_body_livox.dae | 322 ++++++++++++++++++ robots/mini_quadrotor/urdf/robot.urdf.xacro | 30 +- 6 files changed, 358 insertions(+), 10 deletions(-) create mode 100755 robots/mini_quadrotor/bin/rosbag_livox_record.sh create mode 100755 robots/mini_quadrotor/bin/rosbag_record.sh create mode 100644 robots/mini_quadrotor/urdf/mesh/main_body_livox.dae diff --git a/robots/mini_quadrotor/bin/rosbag_livox_record.sh b/robots/mini_quadrotor/bin/rosbag_livox_record.sh new file mode 100755 index 000000000..095fba416 --- /dev/null +++ b/robots/mini_quadrotor/bin/rosbag_livox_record.sh @@ -0,0 +1,3 @@ +#!/bin/bash + +rosrun mini_quadrotor rosbag_record.sh ${1:-quadrotor} /livox/lidar /livox/imu /Odometry /Odometry_precede ${@:2} diff --git a/robots/mini_quadrotor/bin/rosbag_record.sh b/robots/mini_quadrotor/bin/rosbag_record.sh new file mode 100755 index 000000000..0c6923c00 --- /dev/null +++ b/robots/mini_quadrotor/bin/rosbag_record.sh @@ -0,0 +1,3 @@ +#!/bin/bash + +rosrun aerial_robot_base rosbag_control_data.sh ${1:-quadrotor} ${@:2} diff --git a/robots/mini_quadrotor/config/NavigationConfig.yaml b/robots/mini_quadrotor/config/NavigationConfig.yaml index 9431be56e..3be65b0c6 100644 --- a/robots/mini_quadrotor/config/NavigationConfig.yaml +++ b/robots/mini_quadrotor/config/NavigationConfig.yaml @@ -8,7 +8,7 @@ navigation: # Attitude Control Mode: 4 - takeoff_height: 1.0 #1.0 + takeoff_height: 0.6 #1.0 outdoor_takeoff_height: 1.5 # teleop operation diff --git a/robots/mini_quadrotor/launch/includes/sensors.launch.xml b/robots/mini_quadrotor/launch/includes/sensors.launch.xml index 50075cd09..c727e8364 100644 --- a/robots/mini_quadrotor/launch/includes/sensors.launch.xml +++ b/robots/mini_quadrotor/launch/includes/sensors.launch.xml @@ -16,6 +16,13 @@ + + + + + + + @@ -23,4 +30,5 @@ + diff --git a/robots/mini_quadrotor/urdf/mesh/main_body_livox.dae b/robots/mini_quadrotor/urdf/mesh/main_body_livox.dae new file mode 100644 index 000000000..c65ce2c58 --- /dev/null +++ b/robots/mini_quadrotor/urdf/mesh/main_body_livox.dae @@ -0,0 +1,322 @@ + + + + + Blender User + Blender 3.0.1 commit date:2022-01-25, commit time:17:19, hash:dc2d18018171 + + 2023-06-02T05:02:00 + 2023-06-02T05:02:00 + + Z_UP + + + + + + + 39.59775 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 10 + + + + + + + + + 1000 1000 1000 + 1 + 0 + 0.00111109 + + + + + 0 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + 1000 + 29.99998 + 75 + 0.15 + 0 + 1 + 2 + 0.04999995 + 30.002 + 1 + 3 + 2880 + 3 + 1 + 1 + 0.1 + 0.1 + 1 + + + + + + + + + + + 0 0 0 1 + + + 0 0.007027507 0.8000001 1 + + + 0.5 + + + + + + + + + + + 0 0 0 1 + + + 0.8000001 0 0 1 + + + 0.5 + 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/robots/mini_quadrotor/urdf/robot.urdf.xacro b/robots/mini_quadrotor/urdf/robot.urdf.xacro index 17ae53a12..ab2ddb69c 100644 --- a/robots/mini_quadrotor/urdf/robot.urdf.xacro +++ b/robots/mini_quadrotor/urdf/robot.urdf.xacro @@ -7,8 +7,8 @@ - - + + @@ -106,17 +106,17 @@ - - + + + ixx="0.0030" ixy="0" ixz="0" + iyy="0.0030" iyz="0" + izz="0.0045"/> - + @@ -139,9 +139,21 @@ + + + + + + + + + + - + From 200505696f83b95f4635473be35b5d33858d6e8e Mon Sep 17 00:00:00 2001 From: Moju Zhao Date: Mon, 5 Jun 2023 01:08:02 +0900 Subject: [PATCH 3/8] [Mini Quadrotor][LIO] update the parameter to perform LIO (fast-lio with Livox MID360) based localization --- robots/mini_quadrotor/config/StateEstimation.yaml | 6 ++++++ robots/mini_quadrotor/launch/includes/sensors.launch.xml | 9 +++++---- 2 files changed, 11 insertions(+), 4 deletions(-) diff --git a/robots/mini_quadrotor/config/StateEstimation.yaml b/robots/mini_quadrotor/config/StateEstimation.yaml index 2dc2b44ef..763b1c712 100644 --- a/robots/mini_quadrotor/config/StateEstimation.yaml +++ b/robots/mini_quadrotor/config/StateEstimation.yaml @@ -4,6 +4,7 @@ estimation: sensor_list: - sensor_plugin/imu - sensor_plugin/mocap + - sensor_plugin/vo # Fast LIO # egomotion estimation egomotion_list: @@ -45,3 +46,8 @@ sensor_plugin: estimate_mode: 3 # 1<<0 + 1<<1 mocap: estimate_mode: 6 # 1<<1 + 1<<2 + vo1: + estimate_mode: 1 # 1<<0 + # fusion_mode: 2 # ONLY_POS_MODE = 0, ONLY_VEL_MODE = 1, POS_VEL_MODE = 2 (default) + # param_verbose: true + throttle_rate: 120 # Hz diff --git a/robots/mini_quadrotor/launch/includes/sensors.launch.xml b/robots/mini_quadrotor/launch/includes/sensors.launch.xml index c727e8364..3c20e9abe 100644 --- a/robots/mini_quadrotor/launch/includes/sensors.launch.xml +++ b/robots/mini_quadrotor/launch/includes/sensors.launch.xml @@ -18,10 +18,10 @@ - - - - + + + + @@ -29,6 +29,7 @@ + From 7efdd7d125a13114d757398b983e6c714b0dd6e3 Mon Sep 17 00:00:00 2001 From: Moju Zhao Date: Wed, 7 Jun 2023 17:16:53 +0900 Subject: [PATCH 4/8] [Mini Quadrotor] tuning the pos and att gain --- robots/mini_quadrotor/config/FlightControl.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/robots/mini_quadrotor/config/FlightControl.yaml b/robots/mini_quadrotor/config/FlightControl.yaml index b1e1fe000..b41f6b2c9 100644 --- a/robots/mini_quadrotor/config/FlightControl.yaml +++ b/robots/mini_quadrotor/config/FlightControl.yaml @@ -4,7 +4,7 @@ controller: xy: p_gain: 5.0 i_gain: 0.05 - d_gain: 3.0 + d_gain: 5.0 limit_sum: 3 limit_p: 3 limit_i: 1.5 @@ -36,9 +36,9 @@ controller: gyro_moment_compensation: true clamp_gain: true - roll_pitch_p: 20 + roll_pitch_p: 15 # 20 roll_pitch_i: 0.5 - roll_pitch_d: 0.15 + roll_pitch_d: 0.5 # 1.0 #0.15 yaw_p: 60 yaw_i: 0.5 From 6319203f00f7a96d949f4601896ab2d8453b4b65 Mon Sep 17 00:00:00 2001 From: Moju Zhao Date: Mon, 12 Jun 2023 16:13:55 +0900 Subject: [PATCH 5/8] [Mini Quadrotor] update the battery info --- robots/mini_quadrotor/config/Battery.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/robots/mini_quadrotor/config/Battery.yaml b/robots/mini_quadrotor/config/Battery.yaml index cc7a84066..a10fb2fe8 100644 --- a/robots/mini_quadrotor/config/Battery.yaml +++ b/robots/mini_quadrotor/config/Battery.yaml @@ -1,5 +1,5 @@ bat_info: bat_cell: 3 - bat_resistance: 0.04 # [m Ohm] - hovering_current: 15 #[A] - low_voltage_thre: 10 #[100%] + bat_resistance: 0.06 # [m Ohm] + hovering_current: 22 #[A] + low_voltage_thre: 6 #[100%] From b6b9e8bef767e405544d62294c80027ad231d139 Mon Sep 17 00:00:00 2001 From: Moju Zhao Date: Mon, 19 Jun 2023 18:25:10 +0900 Subject: [PATCH 6/8] [Mini Quadrotor][Battery] update battery configuration --- robots/mini_quadrotor/config/Battery.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robots/mini_quadrotor/config/Battery.yaml b/robots/mini_quadrotor/config/Battery.yaml index a10fb2fe8..707e78ec5 100644 --- a/robots/mini_quadrotor/config/Battery.yaml +++ b/robots/mini_quadrotor/config/Battery.yaml @@ -1,5 +1,5 @@ bat_info: bat_cell: 3 - bat_resistance: 0.06 # [m Ohm] + bat_resistance: 0.05 # [m Ohm] hovering_current: 22 #[A] low_voltage_thre: 6 #[100%] From fee334cc6fe7e63236c5ae9eb638fc99bd98f749 Mon Sep 17 00:00:00 2001 From: Moju Zhao Date: Sun, 8 Oct 2023 15:27:11 +0900 Subject: [PATCH 7/8] [Mini Quadrotor][Livox&FastLio] add the launch files about livox mid360 and fast lio into sensors.launch.xml and also update the topic names --- robots/mini_quadrotor/bin/rosbag_livox_record.sh | 2 +- .../mini_quadrotor/launch/includes/sensors.launch.xml | 10 +++++----- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/robots/mini_quadrotor/bin/rosbag_livox_record.sh b/robots/mini_quadrotor/bin/rosbag_livox_record.sh index 095fba416..146c75494 100755 --- a/robots/mini_quadrotor/bin/rosbag_livox_record.sh +++ b/robots/mini_quadrotor/bin/rosbag_livox_record.sh @@ -1,3 +1,3 @@ #!/bin/bash -rosrun mini_quadrotor rosbag_record.sh ${1:-quadrotor} /livox/lidar /livox/imu /Odometry /Odometry_precede ${@:2} +rosrun mini_quadrotor rosbag_record.sh ${1:-quadrotor} quadrotor/livox/lidar quadrotor/livox/imu quadrotor/Odometry quadrotor/Odometry_precede ${@:2} diff --git a/robots/mini_quadrotor/launch/includes/sensors.launch.xml b/robots/mini_quadrotor/launch/includes/sensors.launch.xml index 3c20e9abe..83365d451 100644 --- a/robots/mini_quadrotor/launch/includes/sensors.launch.xml +++ b/robots/mini_quadrotor/launch/includes/sensors.launch.xml @@ -17,11 +17,11 @@ - - - - - + + + + + From 4961c1b7ede182ccfa0a541138af81256e46cbae Mon Sep 17 00:00:00 2001 From: Moju Zhao Date: Sat, 13 Apr 2024 09:05:27 +0900 Subject: [PATCH 8/8] [Mini Quadrotor] refactor the rosbag scripts --- robots/mini_quadrotor/CMakeLists.txt | 5 +++++ robots/mini_quadrotor/bin/rosbag_livox_record.sh | 3 --- robots/mini_quadrotor/bin/rosbag_play.sh | 3 --- robots/mini_quadrotor/bin/rosbag_record.sh | 2 +- 4 files changed, 6 insertions(+), 7 deletions(-) delete mode 100755 robots/mini_quadrotor/bin/rosbag_livox_record.sh delete mode 100755 robots/mini_quadrotor/bin/rosbag_play.sh diff --git a/robots/mini_quadrotor/CMakeLists.txt b/robots/mini_quadrotor/CMakeLists.txt index 263c3bb9d..d8cc5a960 100644 --- a/robots/mini_quadrotor/CMakeLists.txt +++ b/robots/mini_quadrotor/CMakeLists.txt @@ -14,6 +14,11 @@ install(DIRECTORY config launch USE_SOURCE_PERMISSIONS ) +install(DIRECTORY bin + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + USE_SOURCE_PERMISSIONS +) + mujoco_model_convert( ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/config/mujoco_model.yaml) diff --git a/robots/mini_quadrotor/bin/rosbag_livox_record.sh b/robots/mini_quadrotor/bin/rosbag_livox_record.sh deleted file mode 100755 index 146c75494..000000000 --- a/robots/mini_quadrotor/bin/rosbag_livox_record.sh +++ /dev/null @@ -1,3 +0,0 @@ -#!/bin/bash - -rosrun mini_quadrotor rosbag_record.sh ${1:-quadrotor} quadrotor/livox/lidar quadrotor/livox/imu quadrotor/Odometry quadrotor/Odometry_precede ${@:2} diff --git a/robots/mini_quadrotor/bin/rosbag_play.sh b/robots/mini_quadrotor/bin/rosbag_play.sh deleted file mode 100755 index 4e9d34f02..000000000 --- a/robots/mini_quadrotor/bin/rosbag_play.sh +++ /dev/null @@ -1,3 +0,0 @@ -#!/bin/bash - -rosbag play ${1} --clock --pause quadrotor/debug/pose/pid:=quadrotor/debug/pose/pid_orig quadrotor/kf/imu1/data:=quadrotor/kf/imu1/data_orig quadrotor/kf/mocap1/data:=quadrotor/kf/mocap1/data_orig quadrotor/uav/baselink/odom:=quadrotor/uav/baselink/odom_orig quadrotor/uav/cog/odom:=quadrotor/uav/cog/odom_orig quadrotor/uav/full_state:=quadrotor/uav/full_state_orig diff --git a/robots/mini_quadrotor/bin/rosbag_record.sh b/robots/mini_quadrotor/bin/rosbag_record.sh index 0c6923c00..01044cfa4 100755 --- a/robots/mini_quadrotor/bin/rosbag_record.sh +++ b/robots/mini_quadrotor/bin/rosbag_record.sh @@ -1,3 +1,3 @@ #!/bin/bash -rosrun aerial_robot_base rosbag_control_data.sh ${1:-quadrotor} ${@:2} +rosrun aerial_robot_base rosbag_control_data.sh ${1:-quadrotor} quadrotor/livox/lidar quadrotor/livox/imu quadrotor/Odometry quadrotor/Odometry_precede ${@:2}