Difference between revisions of "Bambi Wiki"
From Bambi
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* [https://www.youtube.com/watch?v=OlKUXirQCpQ Südtirol] | * [https://www.youtube.com/watch?v=OlKUXirQCpQ Südtirol] | ||
* [https://www.youtube.com/watch?v=UJxRuLogFrE&t=214s Rheingau Taunus] | * [https://www.youtube.com/watch?v=UJxRuLogFrE&t=214s Rheingau Taunus] | ||
| − | |||
| − | == | + | == BAMBI INSTALLATION REQUIREMENTS == |
| − | + | # Install script used for installation (also Gazebo, which is not necessary on RaspberryPI): [[https://dev.px4.io/en/setup/dev_env_linux.html#gazebo-with-ros https://dev.px4.io/en/setup/dev_env_linux.html#gazebo-with-ros]] | |
| + | # <code>sudo apt install libxml2-dev libxslt-dev python-dev python-rosinstall ros-kinetic-geodesy ros-kinetic-control-toolbox</code> | ||
| + | # <code>sudo -H pip install future lxml pykml libgeographic-dev</code> | ||
== Project Bias Point == | == Project Bias Point == | ||
| Line 25: | Line 26: | ||
To achieve this we use the following '''basic hardware''': | To achieve this we use the following '''basic hardware''': | ||
| − | * Pixhawk with | + | * Pixhawk flashed with PX4 flight stack (a featuring open source flight controller) |
* NEO-M8n (GPS) | * NEO-M8n (GPS) | ||
* 3DR telemetry radio 433Hz (to have a serial link to the ground station and communicate to the flight board trough Mavlink protocol) | * 3DR telemetry radio 433Hz (to have a serial link to the ground station and communicate to the flight board trough Mavlink protocol) | ||
* Video TX Ts5823/5828 (300/600mW video transmitter 5.8GHz) | * Video TX Ts5823/5828 (300/600mW video transmitter 5.8GHz) | ||
* Video RX 5.8gHz av output or otg (uvc) | * Video RX 5.8gHz av output or otg (uvc) | ||
| − | * Sonar ([[WT81B003-0202 (Ultrasonic long distance sensor)]]) | + | * '''OBSOLETE''' Sonar ([[WT81B003-0202 (Ultrasonic long distance sensor)]]) |
| + | * LidarLite V3 (altitude distance sensor) ([https://static.garmin.com/pumac/LIDAR_Lite_v3_Operation_Manual_and_Technical_Specifications.pdf Datasheet]) | ||
| + | *TFmini lidar ([https://cdn.sparkfun.com/assets/5/e/4/7/b/benewake-tfmini-datasheet.pdf Datasheet]) | ||
== Mimmo == | == Mimmo == | ||
| Line 38: | Line 41: | ||
# [[2017-07-04 Skype Call]] | # [[2017-07-04 Skype Call]] | ||
# [[2017-11-15 Meeting 1]] | # [[2017-11-15 Meeting 1]] | ||
| + | # [[2018-07-0x Meeting 2]] | ||
| + | == Simulation == | ||
| + | #[[Simulation with Gazebo + PX4 SITL + ROS]] | ||
| − | |||
| − | |||
== Project Milestones == | == Project Milestones == | ||
| Line 51: | Line 55: | ||
# [[Bambi Saving Workflow]] (e.g. mobile apps) | # [[Bambi Saving Workflow]] (e.g. mobile apps) | ||
| + | == Project LOG == | ||
| + | |||
| + | Intensive project activity log (see [[Activity Log]]): | ||
| + | |||
| + | # [[Day 1]] | ||
| + | # [[Day 2]] | ||
| + | # [[Day 3]] | ||
| + | # [[Day 4]] | ||
| + | # [[Day 5]] | ||
| + | # [[Day 6]] | ||
| + | # [[Day 7]] | ||
| + | # [[Day 8]] | ||
| + | # [[Day 9]] | ||
| + | # [[Day 10]] | ||
| + | # [[Day 11]] | ||
| + | # [[Day 12]] | ||
| + | # [[Day 13]] | ||
| + | # [[Day 14]] | ||
| + | # For the last 3 days, see [[Activity Log]] | ||
| + | |||
| + | See also [[Longterm TODOs]] | ||
== Collection of related stuff that may be useful == | == Collection of related stuff that may be useful == | ||
| + | |||
| + | * [https://dev.px4.io/en/ PX4 Development Guide and Architectural Overview] | ||
* [https://lirias.kuleuven.be/bitstream/123456789/490846/1/VISAPP_15_DHU.pdf How to choose the best embedded processing platform] | * [https://lirias.kuleuven.be/bitstream/123456789/490846/1/VISAPP_15_DHU.pdf How to choose the best embedded processing platform] | ||
* [https://dashcamtalk.com/forum/threads/xiaomi-yi-camera-gui-control-configure-from-pc-win-lin-mac.11206 Gui and py script to control YI Cam] (e.g. shoot trigger) | * [https://dashcamtalk.com/forum/threads/xiaomi-yi-camera-gui-control-configure-from-pc-win-lin-mac.11206 Gui and py script to control YI Cam] (e.g. shoot trigger) | ||
| + | ** See also [https://gist.github.com/SkewPL/f57e6cff7fa14601f6b256926aa33437 https://gist.github.com/SkewPL/f57e6cff7fa14601f6b256926aa33437] | ||
* [https://larrylisky.com/2016/11/24/enabling-raspberry-pi-camera-v2-under-ubuntu-mate/ how to configure PI cam on ubuntu] | * [https://larrylisky.com/2016/11/24/enabling-raspberry-pi-camera-v2-under-ubuntu-mate/ how to configure PI cam on ubuntu] | ||
* [https://link.springer.com/chapter/10.1007/978-3-319-50835-1_49 ETHZ Detection and tracking of possible human victims using thermal and visual cameras in real time] | * [https://link.springer.com/chapter/10.1007/978-3-319-50835-1_49 ETHZ Detection and tracking of possible human victims using thermal and visual cameras in real time] | ||
Latest revision as of 19:36, 26 September 2018
Welcome to the documentation Wiki of Bambi
An introduction needs still to be made. Some links to youtube videos of similar projects:
Contents
BAMBI INSTALLATION REQUIREMENTS
- Install script used for installation (also Gazebo, which is not necessary on RaspberryPI): [https://dev.px4.io/en/setup/dev_env_linux.html#gazebo-with-ros]
-
sudo apt install libxml2-dev libxslt-dev python-dev python-rosinstall ros-kinetic-geodesy ros-kinetic-control-toolbox -
sudo -H pip install future lxml pykml libgeographic-dev
Project Bias Point
The projects aims to develop an automated solution for the very specific use-case. The already developed and highly stressed concept of UVA is the starting point of the project. So we won't develop new techniques regarding these basic issues. Therefore we start with a DRONE that is able to:
- Hold a desired altitude
- Keep / fly to a desired GPS position
- Compensate external disturbances
- Provide ground communication for troubleshooting and development
To achieve this we use the following basic hardware:
- Pixhawk flashed with PX4 flight stack (a featuring open source flight controller)
- NEO-M8n (GPS)
- 3DR telemetry radio 433Hz (to have a serial link to the ground station and communicate to the flight board trough Mavlink protocol)
- Video TX Ts5823/5828 (300/600mW video transmitter 5.8GHz)
- Video RX 5.8gHz av output or otg (uvc)
- OBSOLETE Sonar (WT81B003-0202 (Ultrasonic long distance sensor))
- LidarLite V3 (altitude distance sensor) (Datasheet)
- TFmini lidar (Datasheet)
Mimmo
Meetings:
Simulation
Project Milestones
- Georeferenced Orthophoto
- Image Processing (obtain the contour of the field)
- Automated Flight Route Planner
- Obstacle Avoidance Flight Mode
- Thermal Camera Processing
- Bambi Saving Workflow (e.g. mobile apps)
Project LOG
Intensive project activity log (see Activity Log):
- Day 1
- Day 2
- Day 3
- Day 4
- Day 5
- Day 6
- Day 7
- Day 8
- Day 9
- Day 10
- Day 11
- Day 12
- Day 13
- Day 14
- For the last 3 days, see Activity Log
See also Longterm TODOs
- PX4 Development Guide and Architectural Overview
- How to choose the best embedded processing platform
- Gui and py script to control YI Cam (e.g. shoot trigger)
- how to configure PI cam on ubuntu
- ETHZ Detection and tracking of possible human victims using thermal and visual cameras in real time
- Reference: Toward a fully autonomous UAV: Research platform for indoor and outdoor urban search and rescue (Elmar Mair)
