OpenUxAS service communicating with Pixhawk autopilot via MAVLINK
Tested on Ubnutu 18.04
Assuming a fresh, minimal Ubuntu 18.04 install.
# Install a few random packages.
# curl used below to pull install scripts from web
# build-essential Installs make, g++, gcc
# clang-format Formats generated protobuf files
# meson Creates build scripts for ninja
# ninja Builds UxAS
# ant Builds java Apps
# rustc Rust support for a couple repos.
sudo apt install -y curl
sudo apt install -y build-essential
sudo apt install -y clang-format
sudo apt install -y meson
sudo apt install -y ninja
sudo apt install -y ant
# Install rustup with will provide rust and utilities.
curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs > install_rust.sh
bash install_rust.sh --default-toolchain stable --profile default -y
rm install_rust.sh
# rustc, rustup & cargo are in ~/.profile but we'd need to log in again to get it sourced.
# So, just manually source profile. Note: this will be required for every terminal if you want
# to use rust until you've logged out and in.
source ~/.profile
# Must be nightly because developer used features only availible in the nightly branch
# NOTE: Nightly features either make it into the main rust branch or they are dropped.
# If the rust programs can't compile at a later date it may be that the features
# he used were dropped rather than integrated into the stable Rust release.
rustup install nightly
rustup default nightly
rustup update nightly
Use the following handy script (save it as for example install_rust_repos.sh):
#!/bin/bash
git clone https://github.com/GaloisInc/lmcp_sentinelizer.git
git clone https://github.com/GaloisInc/uxas_attribute_message.git
git clone https://github.com/GaloisInc/mavlink2protobuf_service.git
cd mavlink2protobuf_service && git checkout 924be69 && cd ../
git clone https://github.com/joe-sonrichard/pixhawk-proxy.git
echo "Clone PX4 Firmware"
git clone -b uxas_master https://github.com/GaloisInc/Firmware.git
cd Firmware && git checkout 658b957888 && cd ../
echo "Download QGroundControl"
wget https://s3-us-west-2.amazonaws.com/qgroundcontrol/latest/QGroundControl.AppImage && chmod +x ./QGroundControl.AppImage
echo "Clone UxAS (Galois fork, pixhawk branch)"
git clone --single-branch --branch master https://github.com/TangramFlex/OpenUxAS.git
echo "Clone AFRL LMCP generator"
git clone https://github.com/afrl-rq/LmcpGen.git
echo "Clone OpenAMASE"
git clone https://github.com/TangramFlex/OpenAMASE.git# In the OpenUxAS repo:
bash install_prerequisites.sh
sudo apt install python-empy
sudo apt install python-pip
sudo pip install catkin_pkg
sudo pip install numpy toml
sudo apt install libboost-all-dev
echo "Getting Gazebo and ROS"
sudo apt install -y python-rosdistro
sudo apt install -y python-rosinstall-generator
sudo apt install -y python-rosedep2
# Need this to authenticate ROS repo
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key F42ED6FBAB17C654
sudo apt install -y python-catkin-tools
sudo apt install -y ros-kinetic-desktop-full
wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_gazebo.sh
# This script will fail near the end but it gets some dependencies we need.
source ubuntu_sim_ros_gazebo.sh
# This will actually get gazebo installed.
curl -sSL http://get.gazebosim.org | sh # Tested w/ version 9.11.0
echo "Done"
cd ..
And then:
# chmod +x install_rust_repos.sh
# ./install_rust_repos.sh
And wait. The Gazebo/Ros install will likely end with some kind of error, but that is expected. Also, ubuntu_sim_ros_gazebo.sh installer appends your ~/.bashrc file, so you might want to delete these two lines from ~/.bashrc:
source /opt/ros/kinetic/setup.bash
source ~/catkin_ws/devel/setup.bash
You should end up with a directory structure like this:
drwxrwxr-x 11 michal michal 4096 Aug 10 16:17 ./
drwxrwxr-x 18 michal michal 4096 Aug 10 16:17 ../
drwxrwxr-x 18 michal michal 4096 Aug 10 15:38 Firmware/
-rwxrwxr-x 1 michal michal 1384 Aug 10 16:17 install_rust_repos.sh*
drwxrwxr-x 7 michal michal 4096 Aug 10 15:39 LmcpGen/
drwxrwxr-x 4 michal michal 4096 Aug 10 15:38 lmcp_sentinelizer/
drwxrwxr-x 5 michal michal 4096 Aug 10 15:38 mavlink2protobuf_service/
drwxrwxr-x 4 michal michal 4096 Aug 10 15:39 OpenAMASE/
drwxrwxr-x 14 michal michal 4096 Aug 10 15:42 OpenUxAS/
drwxrwxr-x 5 michal michal 4096 Aug 10 15:38 pixhawk-proxy/
-rwxrwxr-x 1 michal michal 80805888 Aug 7 17:21 QGroundControl.AppImage*
drwxrwxr-x 4 michal michal 4096 Aug 10 15:38 uxas_attribute_message/
drwxrwxr-x 4 michal michal 4096 Aug 10 15:38 UxAS-generated-lmcp/
The following simulation will demonstrate a Pixhawk controller UAV following waypoints assigned by UxAS. We use some default port numbers (TODO: a better system diagram).
- Go to your PX4 Firmware directory:
cd Firmware - Start Gazebo simulation with
./run_custom_sim.sh
or
# Set the initial simulation values to match UxAS waterway search example
export PX4_HOME_LAT=45.3171
export PX4_HOME_LON=-120.9923
export PX4_HOME_ALT=28.5
# This will use the simple jmavsim quadcoter simulation
#make posix_sitl_default jmavsim
# This will make a plane fly in gazebo
make posix gazebo_plane
Once Gazebo is up, right-click on the airplane and select "Follow". Also wait until the simulation prints in the terminal:
INFO [ecl/EKF] EKF GPS checks passed (WGS-84 origin set)
INFO [ecl/EKF] EKF commencing GPS fusion
That means the GPS is OK and we can take off.
- In a separate terminal, start QGroundControl with
./QGroundControl.AppImage
- In a separate terminal, start Mavlink-to-Prorobuf converter:
cd mavlink2protobuf_service
cargo run -- udpin:127.0.0.1:14540 tcp://127.0.0.1:4441 tcp://127.0.0.1:4440
You should see something like this:
Finished dev [unoptimized + debuginfo] target(s) in 0.45s
Running `target/debug/mavlink-connector 'udpin:127.0.0.1:14540' 'tcp://127.0.0.1:4441' 'tcp://127.0.0.1:4440'`
Mavlink connecting to udpin:127.0.0.1:14540
Subscriber: connected to tcp://127.0.0.1:4441
Publisher: bound to tcp://127.0.0.1:4440
- Start PixhawkProxy with:
cd pixhawk-proxy
cargo run -- -s tcp://127.0.0.1:4440 tcp://127.0.0.1:4441 tcp://127.0.0.1:5555 none
To enable autostart add -a, to show additional debug information add -d to the command line.
You will see:
Compiling lmcp_sentinelizer v0.1.0 (file:///home/michal/Workspace/CPS/lmcp_sentinelizer)
Compiling pixhawk-proxy v0.1.0 (file:///home/michal/Workspace/CPS/pixhawk-proxy)
Finished dev [unoptimized + debuginfo] target(s) in 25.50s
Running `target/debug/main -s 'tcp://127.0.0.1:4440' 'tcp://127.0.0.1:4441' 'tcp://127.0.0.1:5555' none`
With ZMQ::STREAM Rx and Tx is handled with a single socket
Mavlink Subscriber: connected to tcp://127.0.0.1:4440
Mavlink Publisher: bound to tcp://127.0.0.1:4441
LMCP Subscriber: connected to tcp://127.0.0.1:5555
If you enabled autostart, you should see the airplane taking-off and then loitering around a waypoint.
- Now we will start UxAS example:
cd OpenUxAS/examples/08_Pixhawk_WaterwaySearch
./runUxAS_WaterwaySearch.sh
If all goes well, now you can see the vehicle flying along waypoints from UxAS. Note that you have to download the current mission from the vehicle, in order to display it in QGCS. Also note that some small warnings might pop up, that is a property of the simulation.
Good luck!
