Code for the Pygmalion Festival

First download and install ROS Indigo: http://wiki.ros.org/indigo/Installation/Ubuntu.

See the following repository for instructions on how to compile ROS for Mac OS X: https://github.com/mikepurvis/ros-install-osx.

In order for the Vicon bridge to work you need to place the dylibs in /usr/lib and mark them as executable:

sudo cp libViconDataStreamSDK_CPP.dylib /usr/lib
sudo cp libDebugServices.dylib /usr/lib
sudo chmod 755 /usr/lib/libViconDataStreamSDK_CPP.dylib sudo chmod 755 /usr/lib/ libDebugServices.dylib

Then build this ROS packages:

catkin_make

DroneDraw

Run the following commands in two separate terminals in order run the drone draw demo:

source devel/setup.bash && roslaunch crazyflie_driver crazyflie_percy.launch vicon_ip:=192.168.1.110:801
./startcf_drone_draw.sh percy

Where vicon_ip:=192.168.1.110:801 is IP adress of the computer running Vicon.

The source for the Android app is located here: https://github.com/Lauszus/DroneDraw. The Android app will upload the path to your Dropbox in the ~/Dropbox/Apps/DroneDraw directory.

To generate a new trajectory based on the path generated from the Android app:

./GeneratePath.py -i ~/Dropbox/Apps/DroneDraw/path.csv -o ~/Dropbox/Apps/DroneDraw/IRL_path.csv

This will generate a trajectory using Bezier curves and generate timestamps based on constant velocity. Currently the demo expect the generated path to be located in that particular folder.

Add the argument -p in order to plot the generated path. The argument -w makes the script wait until the path has changed. This is useful when using it in a live demo, as it will automatically detect when a new path is uploaded to Dropbox and then calculate a trajectory automatically.

Video demonstraion

Crane demo

Start crazyflie in center of the room.

1. Setup

• Connect to Cisco11477 wifi or Ethernet
• Plug in xbox controller. Press center button of controller to turn on
• Plug in Crazyradio PA dongle
• Point front (red/green lights) of vehicle towards door
• Power vehicle

2. Edit Config Files

• Drone Name [repo_location]/src/crazyflie_ros/crazyflie_demo/scripts/Crane.py In the main function you must choose which version of veh1. So far we have either percy or q2. One option will be enabled and the other will be commented.

• Set Vicon Computer IP (if not already correct)

  [repo_location]/src/vicon_bridge/launch/vicon.launch
  

3. Start ROS

• Open terminal and run:

  roscore
  

4. Enable Joystick

• Open terminal and run:

rosrun joy joy_node

5. Source bash script for and run roslaunch

• Open terminal and run:

cd [repo_location]
source devel/setup.bash
roslaunch crazyflie_driver crazyflie_DRONENAME.launch

vicon data should be streaming

6. Launch Crazyflie

• Open Terminal

cd [repo_location]
./start[cf|q2]_crane.sh

7. Ctrl + C to stop