# Indoor Autonomous Flight with Cube, ROS and Aruco Board (Ongoing) **URL:** \ **Category:** Uncategorized\ **Created:** [1 April 2019 10:09 UTC](https://discuss.cubepilot.org/t/indoor-autonomous-flight-with-cube-ros-and-aruco-board-ongoing/351 "2019-04-01T10:09:19Z")\ **Posts on this page:** 1\ **Showing post:** 12
**Author:** ![Alvin](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/alvin/32/1000_2.png) [@Alvin](https://discuss.cubepilot.org/u/Alvin)\ **Post date:** [3 April 2019 07:23 UTC](https://discuss.cubepilot.org/t/indoor-autonomous-flight-with-cube-ros-and-aruco-board-ongoing/351/12 "2019-04-03T07:23:59Z")
# Run all Components ### Correct Some Codes Before First Run **If you cloned the simple build, no need to edit the file** Edit the file `~/catkin_ws/src/aruco_gridboard/data/layout-my.yaml` Change the line ```auto ``` to ```auto ``` This is because the camera was calibrated with resolution of 1280x960. ### Start all ROS Nodes Connect the aircraft to ground station (eg: Mission Planner) on your remote computer. Switch back to the Raspberry Pi. **Use SSH to login to the Raspberry Pi in every terminal if you are not testing on ground.** Launch raspberry pi camera node module: ```auto roslaunch aruco_gridboard detection_rpicam.launch ``` Launch mavros module: ```auto sudo chmod 666 roslaunch mavros apm.launch ``` OR ```auto sudo chmod 666 roslaunch mavros apm.launch fcu_url:=: ``` if you did not set default communication port. Wait for the EK2 ready, until `Request for home position` shows up. Open a new terminal, run: ```auto rosservice call /mavros/set_stream_rate 0 10 1 rosrun aruco_gridboard set_origin.py ``` to set data rate and origin point of your drone. After the python script start, the aircraft should be located in somewhere in Italy. For the **first time** or if you want to **configure the camera** , open a new terminal and run: ```auto rosrun rqt_reconfigure rqt_reconfigure ``` A window will show up and camera parameters can be modified here. For example, select these 2 checkboxes as show below if you mounted the camera upside down. ![rqt_reconfigure](https://discuss.cubepilot.org/uploads/default/original/1X/db94f5a2fb3ab7ddeb5c480784cf20a1d0d54cfb.png) Open a new terminal, run: ```auto rosrun rviz rviz -d catkin_ws/src/aruco_gridboard/data/aruco_grid.rviz ``` The rviz should be opened and two 3-axis pose should be at the middle of the screen. They represent the `/local_position/pose` and `vision_position/pose` topics, which are the position relative to the aruco board. Go to the left top corner and find the `image` tag. Change the topic to `/image/raw`. The real time image from camera will be shown in the bottom-left corner. You will see that pose of `vision_position/pose` change according to the angle of aruco board observed by camera. Pose of `vision_position/pose` corresponds to the EKF measurement on the Cube. Because of the EKF, `vision_position/pose` will not change immediately but slowly move to `vision_position/pose`. There will be a small delay between the actual movement and pose. The delay can be reduced by increasing the stream rate but please consider the processing power of Raspberry Pi. The `vision_position/pose` may not be a flat standing even if the camera is flat. The problem may be located in image processing part. It is still functional anyway. * * * # Load Robot Model to RVIZ If you want to learn more about URDF model, please visit [ROS.org](http://wiki.ros.org/urdf/Tutorials) ### Install URDF\_tutorial Package Open a terminal and run: ```auto sudo apt install ros-kinetic-urdf-tutorial ``` ### Test if Successfully Installed Go to the package location ```auto roscd urdf_tutorial ``` Run the default URDF ```auto roslaunch urdf_tutorial display.launch model:=urdf/01-myfirst.urdf ``` You should be able to see a red cylinder at the middle of RVIZ. ### Add Necessary Files **If you cloned the simple build, skip to next session.** Go to [my github](https://github.com/AlphenLai/aruco_gridboard) and clone the following files/folders to the corresponding folders in `~/catkin_ws/src/aruco_gridboard/` ```auto data/aruco_grid_model.rviz launch/detection_rpicam_model.launch meshes script/pose_to_tf.py urdf ``` ### Prepare Robot Model The robot models can be built in the urdf file or load a mesh file into urdf file. If you are using a Raspberry Pi, it probobly would not have enough processing power to load a mesh file. You can read the urdf\_tutorial on [ROS.org](http://ROS.org) or look into `~/catkin_ws/src/aruco_gridboard/urdf/test.urdf` to learn how urdf works. You may also download a mesh file, such as .STL, from other websites and load into your urdf file. To do this, put your mesh file in `~/catkin_ws/src/aruco_gridboard/meshes` Then, change the content of `~/catkin_ws/src/aruco_gridboard/urdf/aircraft.urdf` to: ```auto ``` **which “part1.STL” is the file name of your mesh file** `~/catkin_ws/src/aruco_gridboard/urdf/aircraft.urdf` and `~/catkin_ws/src/aruco_gridboard/meshes/20_min_drone.STL` are drawn by me. You may use them as default. ##### Solidworks If you used Solidworks to draw the STL file, put it in the `meshes` folder and run: ```auto sed -i 's/^solid/robot/' * ``` before using it. ### Run Everything Connect the aircraft to ground station (eg: Mission Planner) on your remote computer. Switch back to the Raspberry Pi. **Use SSH to login to the Raspberry Pi in every terminal if you are not testing on ground** Open a new terminal, run: ```auto roslaunch aruco_gridboard detection_rpicam_model.launch ``` Open a new terminal, run: ```auto sudo chmod 666 ~/catkin_ws$ roslaunch mavros apm.launch ``` OR ```auto sudo chmod 666 ~/catkin_ws$ roslaunch mavros apm.launch fcu_url:=: ``` if you did not set default communication port. Wait for the EK2 ready, until `Request for home position` shows up. Open a new terminal, run: ```auto rosservice call /mavros/set_stream_rate 0 10 1 ~/catkin_ws$ rosrun aruco_gridboard set_origin.py ``` After the python script start, the aircraft should be located in somewhere in Italy. Convert the `/mavros/local_position/pose` to `tf` datatype ```auto rosrun aruco_gridboard pose_to_tf.py ``` Open a new terminal, run: ```auto rosrun rviz rviz -d catkin_ws/src/aruco_gridboard/data/aruco_grid_model.rviz ``` A robot model will be bound to the 3-axis pose of `/mavros/local_position/pose` --- _[View the full topic](https://discuss.cubepilot.org/t/indoor-autonomous-flight-with-cube-ros-and-aruco-board-ongoing/351)._