qflight_ros

This is a meta-repo containing various Qualcomm Flight ROS packages as git submodules along with instructions for performing demos using the packages.

Table of Contents

1. Pre-requisites
2. Clone and build the code on the robot
3. Clone and build the code on the host computer
4. Demos
5. Additional Resources

Pre-requisites

Hardware

These demos require the following hardware:

• Qualcomm Flight Kit
• Qualcomm Electronic Speed Control (ESC) board
• Drone Frame, Motors, and Props; such as the Dragon Drone Development Kit

Note that if you're using the Dragon DDK, a URDF ros package is available at: qflight_descriptions

Software

These demos require the following software:

• Plaform Image from Intrynsic 3.1.3.1
• Platform Addon from Intrynsic 3.1.3.1
• Qualcomm Navigator Flight Controller SDK 1.2.58
• Qualcomm Machine Vision SDK 1.1.8
• ROS on target
• Qualcomm ESC Firmware 1.2.0

Clone and build the code on the robot

These instructions assume that the Qualcomm Flight board has an internet connection.

Setup ROS workspace

ADB or SSH into the target and run the following commands to setup a ROS catkin workspace:

# run these commands on the flight board
mkdir -p /home/linaro/qflight_ws/src
cd /home/linaro/qflight_ws/src
catkin_init_workspace
cd ..
catkin_make
echo "source /home/linaro/qflight_ws/devel/setup.bash" >> /home/linaro/.bashrc

Clone the repo

# run these commands on the flight board
source /home/linaro/.bashrc
roscd
cd ../src
git clone https://github.com/ATLFlight/qflight_ros.git
cd qflight_ros
git submodule update --init --recursive

Install ROS dependencies

# run these commands on the flight board
cd /home/linaro/qflight_ws/src/qflight_ros
rosdep install --from-paths src --skip-keys snav_msgs

Build the code

# run these commands on the flight board
cd /home/linaro/qflight_ws
catkin_make

Clone and build the code on the host computer

These instructions assume that ROS is installed on the host computer.

Setup ROS workspace

# run these commands on the host computer
mkdir -p /home/$USER/qflight_ws/src
cd /home/$USER/qflight_ws/src
catkin_init_workspace
cd ..
catkin_make
echo "source /home/$USER/qflight_ws/devel/setup.bash" >> /home/$USER/.bashrc

Clone the repo

# run these commands on the host computer
source /home/$USER/.bashrc
roscd
cd ../src
git clone https://github.com/ATLFlight/qflight_ros.git
cd qflight_ros
git checkout host
git submodule update --init --recursive

Build the code

# run these commands on the host computer
cd /home/$USER/qflight_ws
catkin_make

Demos

1. Trajectory Generation and Tracking Demo

Addition Resources

Be sure to check out the README files in each repo to find more documentation about each package.