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An autopilot based on Linux, Ardupilot, and ROS

Home Page: http://rospilot.com

License: Apache License 2.0

C++ 56.49% Python 16.72% Shell 1.59% HTML 4.13% CSS 0.29% JavaScript 17.37% CMake 3.39% Makefile 0.02%

rospilot's Introduction

rospilot

Install the dependencies: rosdep install rospilot
Compile: catkin_make
Configure PostGIS, mapping server, and other services: rosrun rospilot first_time_setup.sh
Start rospilot: roslaunch rospilot rospilot.launch
The UI will now be running at http://localhost:8085

I am providing code in this repository to you under an open source license. Because this is my personal repository, the license you receive to my code is from me and not from my employer (Facebook).

Running linter

catkin_make roslint_rospilot

Running tests

catkin_make test

rospilot's People

Contributors

Stargazers

Watchers

Forkers

bordicon cberner zhao0079 zidane1980slab stmpngrnd idianale muramura jonweili langfan1990 forethewind andersfischernielsen edlward evandanrao

rospilot's Issues

rospilot failing to build on Kinetic

http://build.ros.org/view/Kbin_dj_dJ64/job/Kbin_dj_dJ64__rospilot__debian_jessie_amd64__binary/24/console

/usr/bin/cmake -E cmake_progress_report /tmp/binarydeb/ros-kinetic-rospilot-1.3.4/obj-x86_64-linux-gnu/CMakeFiles 16
[ 31%] Building CXX object CMakeFiles/camera_node.dir/src/cpp/video_recorder.cpp.o
/usr/lib/ccache/c++   -DROSCONSOLE_BACKEND_LOG4CXX -DROS_PACKAGE_NAME=\"rospilot\" -std=c++11 -I/tmp/binarydeb/ros-kinetic-rospilot-1.3.4/obj-x86_64-linux-gnu/devel/include -I/tmp/binarydeb/ros-kinetic-rospilot-1.3.4/include -I/tmp/binarydeb/ros-kinetic-rospilot-1.3.4/src/cpp -isystem /opt/ros/kinetic/include/opencv-3.2.0 -isystem /opt/ros/kinetic/include/opencv-3.2.0/opencv -I/opt/ros/kinetic/include -I/opt/ros/kinetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp -I/usr/include/libnl3    -o CMakeFiles/camera_node.dir/src/cpp/video_recorder.cpp.o -c /tmp/binarydeb/ros-kinetic-rospilot-1.3.4/src/cpp/video_recorder.cpp
/tmp/binarydeb/ros-kinetic-rospilot-1.3.4/src/cpp/video_recorder.cpp: In member function ‘virtual void rospilot::SoftwareVideoRecorder::addFrame(sensor_msgs::CompressedImage*, bool)’:
/tmp/binarydeb/ros-kinetic-rospilot-1.3.4/src/cpp/video_recorder.cpp:84:53: error: ‘av_rescale_q’ was not declared in this scope
                 formatContext->streams[0]->time_base);
                                                     ^
CMakeFiles/camera_node.dir/build.make:402: recipe for target 'CMakeFiles/camera_node.dir/src/cpp/video_recorder.cpp.o' failed
make[4]: Leaving directory '/tmp/binarydeb/ros-kinetic-rospilot-1.3.4/obj-x86_64-linux-gnu'
CMakeFiles/Makefile2:591: recipe for target 'CMakeFiles/camera_node.dir/all' failed
make[3]: Leaving directory '/tmp/binarydeb/ros-kinetic-rospilot-1.3.4/obj-x86_64-linux-gnu'
make[4]: *** [CMakeFiles/camera_node.dir/src/cpp/video_recorder.cpp.o] Error 1
make[3]: *** [CMakeFiles/camera_node.dir/all] Error 2
make[2]: *** [all] Error 2

Add IPv6 support to hostapd & dnsmasq setup

IPv6 DNS is needed for Android devices to resolve local hostnames

rospilot is failing to build on kinetic

http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__rospilot__ubuntu_xenial_amd64__binary/53/console

This appears to be an issue on Ubuntu Xenial but not Debian Jessie

It looks to be an npm installation/dependency issue:

23:23:02 cd /tmp/binarydeb/ros-kinetic-rospilot-1.3.7/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /tmp/binarydeb/ros-kinetic-rospilot-1.3.7 /tmp/binarydeb/ros-kinetic-rospilot-1.3.7 /tmp/binarydeb/ros-kinetic-rospilot-1.3.7/obj-x86_64-linux-gnu /tmp/binarydeb/ros-kinetic-rospilot-1.3.7/obj-x86_64-linux-gnu /tmp/binarydeb/ros-kinetic-rospilot-1.3.7/obj-x86_64-linux-gnu/CMakeFiles/javascript_assets.dir/DependInfo.cmake --color=
23:23:02 Scanning dependencies of target javascript_assets
23:23:02 make[4]: Leaving directory '/tmp/binarydeb/ros-kinetic-rospilot-1.3.7/obj-x86_64-linux-gnu'
23:23:02 make -f CMakeFiles/javascript_assets.dir/build.make CMakeFiles/javascript_assets.dir/build
23:23:02 make[4]: Entering directory '/tmp/binarydeb/ros-kinetic-rospilot-1.3.7/obj-x86_64-linux-gnu'
23:23:02 [  7%] Updating npm
23:23:02 npm install npm 2> /dev/null
23:23:33 /tmp/binarydeb/ros-kinetic-rospilot-1.3.7/obj-x86_64-linux-gnu
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23:23:33 ├─┬ [email protected] 
23:23:33 │ └── [email protected] 
23:23:33 ├─┬ [email protected] 
23:23:33 │ ├─┬ [email protected] 
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23:23:33 └─┬ [email protected] 
23:23:33   └── [email protected] 
23:23:33 
23:23:33 [  8%] Building Javascript files
23:23:33 cd /tmp/binarydeb/ros-kinetic-rospilot-1.3.7/share/web_assets && /tmp/binarydeb/ros-kinetic-rospilot-1.3.7/obj-x86_64-linux-gnu/node_modules/npm/bin/npm-cli.js install
23:23:34 npm ERR! Buffer.alloc is not a function
23:23:34 
23:23:34 npm ERR! A complete log of this run can be found in:
23:23:34 npm ERR!     /home/buildfarm/.npm/_logs/2017-09-13T06_23_34_494Z-debug.log
23:23:34 make[4]: *** [DIRECTORY] Error 1
23:23:34 CMakeFiles/javascript_assets.dir/build.make:65: recipe for target 'DIRECTORY' failed
23:23:34 make[4]: Leaving directory '/tmp/binarydeb/ros-kinetic-rospilot-1.3.7/obj-x86_64-linux-gnu'
23:23:34 CMakeFiles/Makefile2:144: recipe for target 'CMakeFiles/javascript_assets.dir/all' failed
23:23:34 make[3]: Leaving directory '/tmp/binarydeb/ros-kinetic-rospilot-1.3.7/obj-x86_64-linux-gnu'
23:23:34 make[3]: *** [CMakeFiles/javascript_assets.dir/all] Error 2
23:23:34 make[2]: *** [all] Error 2
23:23:34 Makefile:130: recipe for target 'all' failed
23:23:34 make[2]: Leaving directory '/tmp/binarydeb/ros-kinetic-rospilot-1.3.7/obj-x86_64-linux-gnu'
23:23:34 dh_auto_build: make -j1 returned exit code 2
23:23:34 	cd /tmp/binarydeb/ros-kinetic-rospilot-1.3.7
23:23:34 debian/rules:36: recipe for target 'override_dh_auto_build' failed
23:23:34 make[1]: Leaving directory '/tmp/binarydeb/ros-kinetic-rospilot-1.3.7'
23:23:34 make[1]: *** [override_dh_auto_build] Error 2
23:23:34 make: *** [build] Error 2
23:23:34 debian/rules:23: recipe for target 'build' failed
23:23:34 dpkg-buildpackage: error: debian/rules build gave error exit status 2
23:23:34 E: Building failed
23:23:34 Traceback (most recent call last):
23:23:34 # END SUBSECTION

OpenStreetMap import will break if links aren't updated before May 7

http://planet.openstreetmap.org is available over https, and will start redirecting to https on 2018-05-07.

Your project seems to be using curl, which will not follow redirects by default.

Would it please be possible to update all files from http://planet.openstreetmap.org to httpS://planet.openstreetmap.org before then?

Ideally, would it be possible to make all requests to openstreetmap.org over https?

Cleanup resource packaging

It looks like we can make our static file packaging less hacky by making them into resource files in CMake:

http://answers.ros.org/question/109761/where-to-download-extra-files-needed-at-runtime/?answer=109801#post-id-109801

Map server that doesn't require internet connection

cherrypy spews too much logging to the console

please drop nodejs-legacy dependency

Instead use nodejs, this is needed for compatibility with non-Debian distros

Simplify deployment

Ideas:

systemd deployment, instead of robot_upstart
docker?

Configuration page for camera

Disable auto focus
H264 for on-disk format
Change video path, after startup

webcam for webui with low cpu load

Missing dependency `wget` in `first_time_setup.sh`

It seems that wget isn't configured in the dependencies for rospilot.
I get a command not found when running first_time_setup.sh. It seems that wget is missing as a run_depend in package.xml.

You can see the line that errors out here:

rospilot/scripts/first_time_setup.sh

Line 33 in 5f5951a

    
           wget -O kathmandu.osm "https://api.openstreetmap.org/api/0.6/map?bbox=27.713,85.308,27.717,85.312"

Add restart support to init.d script

Flight plans

Set flight plans on map

root@53fe66f5b1c6:/# apt-get update
Ign http://httpredir.debian.org jessie InRelease
Get:1 http://httpredir.debian.org jessie Release.gpg [2373 B]
Get:2 http://httpredir.debian.org jessie Release [148 kB]
Get:3 http://httpredir.debian.org jessie/main arm64 Packages [8544 kB]
Get:4 http://httpredir.debian.org jessie/non-free arm64 Packages [68.7 kB]     
Get:5 http://httpredir.debian.org jessie/contrib arm64 Packages [41.6 kB]      
Fetched 8805 kB in 11s (796 kB/s)                                              
Reading package lists... Done
root@53fe66f5b1c6:/# apt-get install nodejs-legacy
Reading package lists... Done
Building dependency tree... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 nodejs-legacy : Depends: nodejs (>= 0.6.19~dfsg1-3~) but it is not installable
E: Unable to correct problems, you have held broken packages.
root@53fe66f5b1c6:/# apt-get install nodejs       
Reading package lists... Done
Building dependency tree... Done
Package nodejs is not available, but is referred to by another package.
This may mean that the package is missing, has been obsoleted, or
is only available from another source

E: Package 'nodejs' has no installation candidate

Unless this can be resolved I'd recommend adding this package to the blacklist for jessie arm64: https://github.com/ros-infrastructure/ros_buildfarm_config/blob/production/kinetic/release-jessie-arm64-build.yaml#L14

Control from webui

need a way to delete pictures and videos
code cleanup needed for picture capturing (currently two code paths, one in web_ui and one in vlc node)

Support streaming h264 out of camera

Looks like MobiusMini supports this:

v4l2-ctl --list-formats -d /dev/video0
ioctl: VIDIOC_ENUM_FMT
	Index       : 0
	Type        : Video Capture
	Pixel Format: 'H264' (compressed)
	Name        : H.264

	Index       : 1
	Type        : Video Capture
	Pixel Format: 'YUYV'
	Name        : YUYV 4:2:2

	Index       : 2
	Type        : Video Capture
	Pixel Format: 'MJPG' (compressed)
	Name        : Motion-JPEG

Longer range communication

802.11af?
802.11ac

Build packages for ROS repo

Streaming Web Cam via libvlc

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