Drone_Competition

Autonomous Drone Simulation Competition

PC Recommended Specifications

• Intel Core i7-10750H 10th Generation, 5.00GHz or higher
• 16 GB DDR4 RAM or higher
• 500 GB SSD or higher
• NVIDIA GeForce GTX 1660 Ti or higher
• 5GHz wifi communication support

PC Required Specifications

• OS : Ubuntu 18.04
• external graphics card is necessary

Install Guide

Download

git clone https://github.com/rladntjd/Drone_Competition.git
cd ~/Drone_Competition

1. Install Ros Melodic

sudo chmod +x ros_melodic_install.sh
./ros_melodic_install.sh

2. Install Unreal Engine

Make sure you are registered with Epic Games. This is required to get source code access for Unreal Engine.

• Just follow the "1 - Required Setup process" on Link to register git.
• Don't download Git of Unreal Engine. it is included in the code that we distribute.

sudo chmod +x Unreal_install.sh
./Unreal_install.sh

• you’ll see a box asking to register Unreal Engine file types. You want to select “Yes”.

3. Install AirSim

sudo chmod +x AirSim_install.sh
./AirSim_install.sh

4. Install mavros

sudo chmod +x mavros_install.sh
./mavros_install.sh

5. Install px4

sudo chmod +x px4_install.sh
./px4_install.sh

6. Install depth_noise

Just double-click ros-melodic-depth-noise_2.1.0-0bionic.amd64.deb

or

sudo depkg -i ros-melodic-depth-noise_2.1.0-0bionic.amd64.deb

7. Setting and Download map

• Setting file for drone competition.

This file is used to set visual sensors and connenct simulation with px4 firmware. Put this file at Documents\AirSim

• Visual sensor specification

front_center_custom

RGB, 480X320, FOV : 90, 0.5m above from the drone center

Depth, 480X320, FOV : 90, 0.5m above from the drone center

settings.json file Link : https://drive.google.com/file/d/1FomkUxzqGFPbp-Zu0oU3NieMbDWEhM_C/view?usp=sharing

• Competition map

Unreal Engine map Link : https://drive.google.com/file/d/1BVUF7lr0DQZbjK6cA9uXhSuLDuem8WJZ/view?usp=sharing

• Need to turn off 'Use Less CPU when in Background' option at Edit - Editor preferences - General - Performance

Start Guide

1. Open Map

Run drone_proto.uproject file and click 'play' for start simulation.

2. Open 4 terminals respectively

1) terminal 1 : Airsim

cd ~/AirSim/ros
source devel/setup.bash
roslaunch airsim_ros_pkgs airsim_node.launch

2) terminal 2 : PX4

cd ~/PX4-Autopilot
make px4_sitl_default none_iris

3) terminal 3 : Mavros

roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"

4) terminal 4 : Depth Noise

roslaunch depth_noise depth_simple.launch

Notice

Subscriber & Publisher Guide

Published Topic name	type	Topic msg
/mavros/imu/data_raw	IMU sensor	sensor_msgs/Imu
/mavros/imu/mag	Magnetometer	sensor_msgs/MagneticField
/airsim_node/drone_1/front_center_custom/Scene	RGB Camera	sensor_msgs/Image
/simulation/depth_image	Depth Camera	sensor_msgs/Image
/mavros/altitude	barometer	mavros_msgs/Altitude
/mavros/state	Drone's State	mavros_msgs/State
/mavros/home_position/home	Home position	mavros_msgs/HomePosition
/competition/ready	Restarting Proceeding or Finished	std_msgs/Bool

Subscribed Topic name	type	Topic msg
/mavros/setpoint_velocity/cmd_vel	velocity control	geometry_msgs/TwistStamped
/mavros/setpoint_attitude/cmd_vel	attitude control	geometry_msgs/TwistStamped
/mavros/setpoint_attitude/thrust	attitude control	mavros_msgs/Thrust
/mavros/setpoint_attitude/attitude	attitude control	geometry_msgs/PoseStamped
/mavros/setpoint_accel/accel	acceleration control	geometry_msgs/Vector3Stamped
/restart_from_start	Send msg for Restarting	std_msgs/Bool

• Depth camera can measure distance upto 13m. Depth noise is added

• Positioning data such as GPS is NOT provided. Use visual odometry or other pose estimation algorithm.

http://wiki.ros.org/mavros, https://microsoft.github.io/AirSim/airsim_ros_pkgs.html#using-airsim-ros-wrapper

Noise is added

Due to gaussian random noise is added to rotor thrust the drone will vibrate.

gaussian noise added

noise not added

Camera-IMU Intrinsic & Extrinsic Parameters

see the file "results-imucam-camera_bag.txt"

Information about map

Bird's-eye view of map

Information about gates