ros2_metafly

Portfolio post that uses this repo: https://adityanairs.website/BirdFlying/

REQUIREMENTS:

• ROS 2 Iron (for Humble, see the ros2/humble branch)
• ROS 2 Jazzy might also work but has not been rigorously tested.

To cleanly swap your ROS 2 distribution: Eg. changing to iron

unset CMAKE_PREFIX_PATH
unset AMENT_PREFIX_PATH
source /opt/ros/iron/setup.bash
echo $CMAKE_PREFIX_PATH   # should be empty
echo $AMENT_PREFIX_PATH   # should be /opt/ros/iron
echo $ROS_DISTRO          # should be iron

metafly_control

Package that handles low level controls communication between the transmitter module, ROS2 network, and PS3 Controller.

Command for using a PS3 controller to fly the MetaFly:

ros2 launch metafly_control ps3.launch.xml

REQUIREMENTS:

• PS3 Controller
• LibSerial on Linux (Eg. sudo apt install libserial-dev)
• metafly_interfaces

metafly_high

Package that handles high level controls and motion planning.

Command that launches the high level controller and triggers all the relevant launch files for it:

ros2 launch metafly_high high_level.launch.py policy:=returning use_high_rviz:=true

where policy can be:

• basic
• PID
• switching
• returning
• drift

REQUIREMENTS:

• ROS 2 TF2 Transformations (Eg. sudo apt install ros-iron-tf* or sudo apt install ros-humble-tf*)
• metafly_interfaces

metafly_high_cpp (in progress)

C++ version of the metafly_high package. Currently non-functional.

metafly_interfaces

Houses custom message and service types:

• metafly_interfaces/Controls for speed and steering commands to MetaFly

metafly_listener

Package that handles UDP communication between OptiTrack system and ROS2 network

Command for launching just the listener. Used to test communications:

ros2 launch metafly_listener listener.launch.py

REQUIREMENTS:

• ROS 2 TF2 Transformations (Eg. sudo apt install ros-iron-tf* or sudo apt install ros-humble-tf*)
• metafly_interfaces

metaflylib (in progress)

C++ library holding utility functions and classes for metafly_high_cpp. Compiles but is a work in progress.

arduino

Arduino scripts that initializes the transmitter module.

REQUIREMENTS:

• MetaFly transmitter module. (More Info)
• Arduino IDE for uploading code

logging

Useful logging scripts for analyzing data from the system.

Command to run the recording node that stores pose data and controls commands as .pkl files:

ros2 run metafly_high logger

REQUIREMENTS:

• PKL Library (Eg. pip install python-pkl)

REQUIREMENTS:

• ROS 2 TF2 Transformations (Eg. sudo apt install ros-iron-tf* or sudo apt install ros-humble-tf*)
• metafly_interfaces