Copyright (C) 2015 CentraleSupélec All rights reserved La documentation originale est en français : LISEZMOI.md. La documentation ci-dessous n’est qu’une traduction. The original manual is the french "LISEZMOI.md", you read below a translation of this file. # Installation # This package was developped with the Indigo version of ROS. ## Dependencies installation ## ``` #!sh sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list' wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add - sudo apt-get update sudo apt-get install ros-indigo-desktop-full ros-indigo-freenect-stack ros-indigo-ardrone-autonomy libncursesw5-dev ``` ## Package installation ## ### Catkin workspace creation ### For instance : ``` #!sh source /opt/ros/indigo/setup.bash mkdir -p ~/hand_control_ws/src cd ~/hand_control_ws/src catkin_init_workspace ``` ### Code location ### If necessary, rename the folder with the file named `hand_control`, and move it in `~/hand_control_ws/src/` or in the subfolder `src` of your catkin workspace. ## Compilation ## You're now able to compile : ``` #!sh cd ~/hand_control_ws # or your catkin workspace catkin_make ``` Then you can run the following commands to be able to use the ROS commands. If necessary replace "hand_control_ws" by the name of your catkin workspace. ``` #!sh source /opt/ros/indigo/setup.bash source ~/hand_control_ws/devel/setup.bash echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc echo "source ~/hand_control_ws/devel/setup.bash" >> ~/.bashrc ``` # Use # ## Connection and setting up of the Kinect ## 1. Connect the Kinect (under voltage) to the computer via USB ; 2. Put the Kinect on the ground, pointed toward the roof ; be aware that your arm must be perpendicular to the Kinect in order to control the drone properly ; 2. Launch the "launchfile" kinect_commander.launch : `roslaunch hand_control kinect_commander.launch` ; 3. Check the drone parameters : - launch rviz : `rosrun rqt_rviz rqt_rviz` - display the output of the filtering (topic : `/filter/output` ; frame : `/camera_depth_optical_frame`) and locate the hand ; - launch rqt_reconfigure : `rosrun rqt_reconfigure rqt_reconfigure` in order to : - change the filter parameters until you only see the points of the hand/glove/panel on rviz (see above). - change the parameter `neutral_alt` of the node `commander` to the wanted height (in meters), correponding to the height of the hand for which the height of the drone will be stable. ### Parameters of the filter ### The parameters of the filter (that can be changed thanks to `dynamic_reconfigure` and in particular `rqt_reconfigure`) are : * `z_max` : in meters, maximal height of the hand. It must be lower than the height of the roof. * for a glove or a *colored* panel (green, blue, etc.), we generaly have : - `hue` : for example 220 (sky blue) or 150 (green) or 0 (pink/red) ; - `delta_hue` : between 10 and 20 ; - `sat/val_min` : 0.0 ; - `sat/val_max` : 1.0 ; * for a *black* glove : - `hue` : 0 ; - `delta_hue` : 180 ; - `sat_min` : 0.0 ; - `sat_max` : 1.0 ; - `val_min` : 0.0 ; - `val_max` : 0.3 (at your convenience); ### Other parameters ### Always with `rqt_reconfigure`, but with the `estimator` node : - `reverse` : swap x and y, the axes of the Kinect (default : false, ie. unchecked) - `reverse_angle` : change the angle choosen for the compute of the angle of the hand (default : false, ie. unchecked) ## Connection to the drone and steering ## * Connect the computer to the wifi network of the drone ; * Launch the "launchfile" ardrone.launch : `roslaunch hand_control ardrone.launch` ; * Taking off : - whether `rostopic pub /ardrone/takeoff std_msgs/Empty` ; - or launch the node keyboard_cmd : `rosrun hand_control keyboard_cmd` and use *t* on the keyboard. * Landing : - whether `rostopic pub /ardrone/land std_msgs/Empty` ; - or, launch the node keyboard_cmd, and use *b* on the keyboard. * Emergency stop : - whether `rostopic pub /ardrone/reset std_msgs/Empty` ; - or, launch the node keyboard_cmd, and use *g* on the keyboard. ### Hand steering ### * Forward/backward & side translations : hand tilt ; * Rotate (around the vertical axis z) : angle of the hand with the the axis parallel to the ground and perpendicular to the kinect ; * go up/go down : hand height. ### Options and parameters of the command ### To edit the options of the command, change (if not already) `rosrun rqt_reconfigure rqt_reconfigure` : - `max_curvature` : not used for the moment ; - `x/y/z/theta_minimal_deviation` : thresholds required above which the movement of the hand is not taken into account. If all are 0.0, the drone responds linearly. * x, y : between 0. and 1. (corresponding to the x and y of the normal to the plane); * z : in meters ; * theta : in degrees. - `neutral_alt` : height of the hand for the immobility of the height of the drone ; - `min_points_number` : minimal number of points (for the point cloud used for the regression) necessary in order to send a command to the drone ; - `angle/x/y/z_vel` : proportionality coefficients to apply to the inputs in order to establish the command sent to the drone. Increase it will increase the speed of the drone ; - `up_fact` : proportionality coefficients to apply to the command that increases the height of the drone, compared to the equivalent command to reduce it (in order to correct the effect of gravity). ### About `keyboard_cmd` ### It allows you to publish commands on the topic `cmd_vel` and so to steer the drone. It is scheduled for azerty keyboards. To launch it, run : ``` #!sh rosrun hand_control keyboard_cmd ``` To increase/decrease the speed (there is an explication on the controlpanel) : a,z,e,r and w,x,c,v The informations of the drone are updated when a key is pressed. To quit : CTRL+C and press "Enter" to return to the console. # Problems - Possible improvements # - If commands are published on `cmd_vel` (from the Kinect for instance) after the launch of `ardrone.launch` and before the takeoff, then, after the takeoff, the drone seems to obey to commands published before the takeoff. - As written above, the display of navigation data on `keyboard_cmd` is only updated when a key is pressed, and can therefore stay fixed when the keyboard commander is not used. - The takeoff/landing is not controllable with the hand. The keyboard must be used (`keyboard_cmd` or `rostopic pub`) instead. We can correct this by creating two new thresholds, minimal and maximal, for the hand height : a very low hand would make the drone land and a very high hand would make the drone take off.