init

Author: jake.luo

LICENSE

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+# Robomaster自主无人机
+
+## 注意
+组装文档中采用了悬挂方案安装飞控，该方案能够极大地减小震动对imu的影响。但是长时间的拉伸会使得皮筋产生脆化而失去弹性。将皮筋更换为工业橡皮筋可缓解该问题。同时碳纤维板上预留了飞控安装孔位，也可以选择直接将飞控安装到碳板上，但是该做法的imu减震性能不佳。
+
+## 简介
+为了降低选手参与自主无人机赛事的门槛，减少用于调试安装设备的精力，推出了基于DJI Avata平台，Nvidia Jetson Xiaver NX 和 Ardupilot的开源自主无人机方案。  
+*docs/RMUA2023自主无人机开源手册_bom.xlsx*包含有所需设备的详细信息，根据这个表格可以获得所需的所有零部件。  
+*docs/RMUA2023自主无人机开源手册.md*详细介绍了安装，调试，参数配置，程序开发的全过程。按照该手册的指引，能够从0开始获得可以自主定位，手动或者离线控制的自主无人机。    
+*models*中包含有所需的非标件模型文件。   
+*catkin_ws_d430_ros*含有多个基本离线控制程序案例以供参考：
+1. 视觉定位 (*catkin_ws_d430_ros/src/d430_slam*)；
+2. 定点悬浮 (*catkin_ws_d430_ros/src/offboard*)；
+3. 位置控制巡航 (*catkin_ws_d430_ros/src/offboard*)；
+4. 速度控制巡航 (*catkin_ws_d430_ros/src/offboard*)；
+
+## License
+本项目使用*GNU GPLv3*，查看*LICENSE*文件获得更多信息。
+
+

README.md

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+#  Copyright © 2023 ROBOMASTER All Rights Reserved.
+#  You may use, distribute and modify this code under the
+#  terms of the MIT license, which unfortunately won't be
+#  written for another century.
+
+#!/usr/bin/env python
+
+##
+#
+# Send SET_GPS_GLOBAL_ORIGIN and SET_HOME_POSITION messages
+#
+##
+
+import rospy
+from pymavlink.dialects.v10 import ardupilotmega as MAV_APM
+from mavros.mavlink import convert_to_rosmsg
+from mavros_msgs.msg import Mavlink
+
+# Global position of the origin
+lat = 425633500  # Terni
+lon = 126432900  # Terni
+alt = 163000 
+
+class fifo(object):
+    """ A simple buffer """
+    def __init__(self):
+        self.buf = []
+    def write(self, data):
+        self.buf += data
+        return len(data)
+    def read(self):
+        return self.buf.pop(0)
+
+def send_message(msg, mav, pub):
+    """
+    Send a mavlink message
+    """
+    msg.pack(mav)
+    rosmsg = convert_to_rosmsg(msg)
+    pub.publish(rosmsg)
+
+    print("sent message %s" % msg)
+
+def set_global_origin(mav, pub):
+    """
+    Send a mavlink SET_GPS_GLOBAL_ORIGIN message, which allows us
+    to use local position information without a GPS.
+    """
+    target_system = mav.srcSystem
+    #target_system = 0   # 0 --> broadcast to everyone
+    lattitude = lat
+    longitude = lon
+    altitude = alt
+
+    msg = MAV_APM.MAVLink_set_gps_global_origin_message(
+            target_system,
+            lattitude, 
+            longitude,
+            altitude)
+
+    send_message(msg, mav, pub)
+
+def set_home_position(mav, pub):
+    """
+    Send a mavlink SET_HOME_POSITION message, which should allow
+    us to use local position information without a GPS
+    """
+    target_system = 0
+    #target_system = 0  # broadcast to everyone
+
+    lattitude = lat
+    longitude = lon
+    altitude = alt
+    
+    x = 0
+    y = 0
+    z = 0
+    q = [1, 0, 0, 0]   # w x y z
+
+    approach_x = 0
+    approach_y = 0
+    approach_z = 0
+
+    msg = MAV_APM.MAVLink_set_home_position_message(
+            target_system,
+            lattitude,
+            longitude,
+            altitude,
+            x,
+            y,
+            z,
+            q,
+            approach_x,
+            approach_y,
+            approach_z)
+
+    send_message(msg, mav, pub)
+
+if __name__=="__main__":
+    try:
+        rospy.init_node("origin_publisher")
+        mavlink_pub = rospy.Publisher("/mavlink/to", Mavlink, queue_size=20)
+
+        # Set up mavlink instance
+        f = fifo()
+        mav = MAV_APM.MAVLink(f, srcSystem=1, srcComponent=1)
+
+        # wait to initialize
+        while mavlink_pub.get_num_connections() <= 0:
+            pass
+   
+        for _ in range(2):
+            rospy.sleep(1)
+            set_global_origin(mav, mavlink_pub)
+            set_home_position(mav, mavlink_pub)
+    except rospy.ROSInterruptException:
+        pass
+

catkin_ws_d430_ros/set_origin.py

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+/opt/ros/noetic/share/catkin/cmake/toplevel.cmake

catkin_ws_d430_ros/src/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(apm_d430_bridge)
+
+add_definitions(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  dynamic_reconfigure
+  tf
+  mavros
+  mavros_extras
+  mavros_msgs
+  mavlink
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS roscpp rospy std_msgs mavros_msgs geometry_msgs mav_msgs sensor_msgs message_runtime tf
+#  DEPENDS system_lib
+)
+
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE Release)
+endif(NOT CMAKE_BUILD_TYPE)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${PCL_INCLUDE_DIRS}
+  ${YAML_CPP_INCLUDE_DIR}
+)
+
+set(APM_D430_BRIDGE_CPP_FILES   "src/nodes/apm_d430_bridge.cpp"
+                              "src/nodes/apm_d430_bridge_node.cpp"
+)
+
+add_library(apm_d430_bridge     "${APM_D430_BRIDGE_CPP_FILES}")
+
+add_dependencies(apm_d430_bridge ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+add_executable(apm_d430_bridge_node src/nodes/apm_d430_bridge_node.cpp)
+
+target_link_libraries(apm_d430_bridge_node
+  apm_d430_bridge
+  ${catkin_LIBRARIES}
+  ${YAML_CPP_LIBRARIES})
+