QuadSoftware - Revision history

Henrique at 15:59, 14 October 2013

2013-10-14T15:59:34Z

← Older revision		Revision as of 15:59, 14 October 2013
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	** Accelerometer: [http://www.analog.com/static/imported-files/data_sheets/ADXL335.pdf ADXL335]		** Accelerometer: [http://www.analog.com/static/imported-files/data_sheets/ADXL335.pdf ADXL335]
	** Magnetometer: [http://www.honeywell.com/sites/servlet/com.merx.npoint.servlets.DocumentServlet?docid=DA9ACFE3C-F7C0-9998-6085-D9D84941499D HMC5843]		** Magnetometer: [http://www.honeywell.com/sites/servlet/com.merx.npoint.servlets.DocumentServlet?docid=DA9ACFE3C-F7C0-9998-6085-D9D84941499D HMC5843]
	** ~~Gyroscope~~: [http://www.analog.com/static/imported-files/data_sheets/ADXRS620.pdf ADXRS620]		** Gyroscopes: [http://www.analog.com/static/imported-files/data_sheets/ADXRS620.pdf ADXRS620]

	== Software ==		== Software ==

2013-10-14T15:59:19Z

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	== Sensors ==		== Sensors ==
	~~[http://www.idmind.pt IdMind]~~
	* Laser Range Finder: [http://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html Hokuyo URG-04LX-UG01]		* Laser Range Finder: [http://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html Hokuyo URG-04LX-UG01]
			* Optical Flow: [https://pixhawk.ethz.ch/px4/modules/px4flow PX4Flow Smart Camera]
			* IMU:
			** Accelerometer: [http://www.analog.com/static/imported-files/data_sheets/ADXL335.pdf ADXL335]
			** Magnetometer: [http://www.honeywell.com/sites/servlet/com.merx.npoint.servlets.DocumentServlet?docid=DA9ACFE3C-F7C0-9998-6085-D9D84941499D HMC5843]
			** Gyroscope: [http://www.analog.com/static/imported-files/data_sheets/ADXRS620.pdf ADXRS620]

	== Software ==		== Software ==

2013-10-14T15:50:08Z

← Older revision		Revision as of 15:50, 14 October 2013
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	== Sensors ==		== Sensors ==
			[http://www.idmind.pt IdMind]
	* Laser Range Finder: ~~"Hokuyo URG-04LX-UG01":~~http://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html		* Laser Range Finder: [http://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html Hokuyo URG-04LX-UG01]

	== Software ==		== Software ==

2013-10-14T15:48:16Z

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	This page presents instructions and software for ISR Quadrotors. This vehicle includes a Pandaboard Computer that is not recommended to do heavy computing, and so it is only appropriate to run the ROS drivers for the hardware (motors and sensors). So the suggested architecture is to use an external laptop for the main software, connecting via Wi-Fi to the quadrotor. The driver nodes can be remotely launched using roslaunch.		This page presents instructions and software for ISR Quadrotors. This vehicle includes a Pandaboard Computer that is not recommended to do heavy computing, and so it is only appropriate to run the ROS drivers for the hardware (motors and sensors). So the suggested architecture is to use an external laptop for the main software, connecting via Wi-Fi to the quadrotor. The driver nodes can be remotely launched using roslaunch.

			== Sensors ==

			* Laser Range Finder: "Hokuyo URG-04LX-UG01":http://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html

	== Software ==		== Software ==

2013-10-04T16:28:42Z

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	=== Packages ===		=== Packages ===
	* quad_drivers -- contains the main drivers (to run on Pandaboard)		* quad_drivers -- contains the main drivers (to run on Pandaboard).
	* quad_launch -- contains some launch files ~~to record the flights~~		* quad_launch -- contains some launch files.

	=== Nodes ===		=== Nodes ===
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	* quad_link -- Establish connection between vehicle and laptop.		* quad_link -- Establish connection between vehicle and laptop.
	* quad_status -- Reads some important data from vehicle.		* quad_status -- Reads some important data from vehicle.
			* laser_height -- Calculate the height of the quadrotor with LRF.
	~~=== Subscribed topics ===~~
	* ~~Under Construction~~

	=== Published topics ===		=== Published topics ===
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	* /quad_height/height_to_base (mav_msgs/Height) -- Height of quadrotor (in m).		* /quad_height/height_to_base (mav_msgs/Height) -- Height of quadrotor (in m).
	* /quad_status/status (quad_status/Status) -- voltage (in V), RC status, Motors ON/OFF, ExternalCtrl ON/OFF and RunTime.		* /quad_status/status (quad_status/Status) -- voltage (in V), RC status, Motors ON/OFF, ExternalCtrl ON/OFF and RunTime.

			== Examples ==
			An example of a launch file to launch all quad nodes is on package quad_launch.

			NOTE: you need to modify these launch file in order to launch the nodes remotely.

2013-10-04T16:23:47Z

← Older revision		Revision as of 16:23, 4 October 2013
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	* hector_common		* hector_common

			=== ROS Source Code ===
	The source code can be found here: [[Media:quad_ros.tar.gz\|quad_ros.tar.gz]].		The source code can be found here: [[Media:quad_ros.tar.gz\|quad_ros.tar.gz]].

2013-10-04T16:23:09Z

← Older revision		Revision as of 16:23, 4 October 2013
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	* scan_tools		* scan_tools
	* hector_common		* hector_common

			The source code can be found here: [[Media:quad_ros.tar.gz\|quad_ros.tar.gz]].

	== Usage ==		== Usage ==

2013-10-02T13:46:10Z

← Older revision		Revision as of 13:46, 2 October 2013
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	=== Published topics ===		=== Published topics ===
	* /scanCenter (sensor_msgs/LaserScan)		* /scanCenter (sensor_msgs/LaserScan) -- Laser Range Finder measurements.
	* /imu/data (sensor_msgs/Imu)		* /imu/data (sensor_msgs/Imu) -- IMU data.
	* /quad_height/height_to_base (mav_msgs/Height)		* /quad_height/height_to_base (mav_msgs/Height) -- Height of quadrotor (in m).
	* /quad_status/status (quad_status/Status) - voltage (in V), RC status, Motors ON/OFF, ExternalCtrl ON/OFF and RunTime.		* /quad_status/status (quad_status/Status) -- voltage (in V), RC status, Motors ON/OFF, ExternalCtrl ON/OFF and RunTime.

2013-10-02T13:33:21Z

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	=== Nodes ===		=== Nodes ===
	* imu_parser -- Reads data from IMU.		* imu_parser -- Reads data from IMU.
	* quad_esc -- Reads velocities from motors.
	* quad_link -- Establish connection between vehicle and laptop.		* quad_link -- Establish connection between vehicle and laptop.
	* quad_status -- Reads some important data from vehicle.		* quad_status -- Reads some important data from vehicle.
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	* /imu/data (sensor_msgs/Imu)		* /imu/data (sensor_msgs/Imu)
	* /quad_height/height_to_base (mav_msgs/Height)		* /quad_height/height_to_base (mav_msgs/Height)
	*		* /quad_status/status (quad_status/Status) - voltage (in V), RC status, Motors ON/OFF, ExternalCtrl ON/OFF and RunTime.

2013-10-02T13:13:50Z

← Older revision		Revision as of 13:13, 2 October 2013
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	=== Published topics ===		=== Published topics ===
	* ~~Under Construction~~		* /scanCenter (sensor_msgs/LaserScan)
			* /imu/data (sensor_msgs/Imu)
			* /quad_height/height_to_base (mav_msgs/Height)
			*