Team tayaran drones:

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Created September 28, 2022 © MIT

Tayaran Drones

Drone swarm technology for sustainable farming

Beginner2 hours39

Things used in this project

Software apps and online services

PX4

ROS Robot Operating System

OpenCV

Docker

Vagrant

PX4 QGroundControl

PX4 MAVLink

Hand tools and fabrication machines

Multitool, Screwdriver

Soldering iron (generic)

Hot glue gun (generic)

Story

1) Tell us your idea

1 / 8 • Drone Swarm

To keep up with the supply and demand of a rapidly expanding agriculture business, cost-effective technical solutions that encourage the efficient use of limited resources must be deployed. Our startup intends to make drone swarms available to the agriculture sector for accessible data collection and fire safety. Drone swarm systems can be used to collect data from multiple drones and sensors to survey huge fields and obtain analytical insight into crop health, variation in growth patterns, and irrigation. The variation of agricultural environments often makes it difficult to apply a standardized approach to the surveying and analysis of crop health. Combining adaptive swarm system techniques with versatile sensor arrays, optimized flight can be used in virtually any environment. It is the goal of this project to develop and integrate a functional environment where drone swarms can be adapted for successful data collection assisting agricultural understanding and risk assessment.

As mentioned, agricultural drone swarms would be focused on the ability to provide significant fire safety to large agricultural environments that otherwise require extensive resources to ensure their safety. Assessment of crop health during dry conditions would allow for risk analysis, as well as provide an effective means for fire suppression in the event of a fire. Equipping drones with fire extinguishing resources is already a well-researched field, and applying this project’s methodology for effective and efficient drone swarm flight can bridge these efforts better into the agriculture industry. Given the scarcity of agricultural resources combined with the often remote location, detecting and combating fires is a major challenge. In addition to destroying the crops and land, this crisis has overburdened the administration's response capabilities in public safety. However, swarm drones can be a viable option for early detection and quick suppression of such flames. This project proposes the development of low-cost drones loaded with swarm programs that may be used for surveying, infrastructure monitoring, and safety purposes.

We want to target growers of soybeans, oil seeds, and corn in the southern and western United States, as well as, Central Africa and Latin America, specifically Brazil, Argentina, and Paraguay. These fields vary drastically in environment and can be hundreds or thousands of acres in size. It would never be possible to scan fields of this magnitude with a single drone, however a drone swarm provides the ability to survey the field, identify areas with soil deficiencies, gather data, and even alert of fires.

2) Describe your development journey

Our team has ambitious goals to transform agriculture through swarm robotics. Historically, this domain has been constrained to academia, defense, and light shows. We spent a significant amount of time reading the academic literature, considering different frameworks, and understanding how this would all come in together.

Due to the complexity of this domain, we wanted to leverage an existing framework and apply it to the domain of agriculture. We tried using SwarmSim by MIT, micro swarm framework in ROS, mavSwarm, and a couple of others. What we discovered was that many of these frameworks are unmaintained, incompatible with ROS 2 and PX4, or do not provide sufficient capability beyond basic simulation.

This was the main source of frustration in the development journey. There are many versions of PX4, ROS 2, along with the connection between them (Miro-RTPS bridge, Fast-DDS, Mavlink), and the different environments to run them (Docker, VM). Documentation was often hard to follow as the technologies moved much faster than the documentation got updated. After having to restart many times because we discovered that our version of ROS is not compatible with the version of PX4, or that the connection between them is only valid on the main branch not on the latest stable release, we switched our focus to creating a solution that will make this easier for all future developers.

Along with creating the drone swarm, we wanted to create an environment that works across platforms and anyone can use it without prior knowledge. To do that, we set out to create a virtual machine that houses all the required components, so all installations can be automatic. We spent a lot of time reading through discussion on the PX4 discord, looking through various github gists created by the community, and reading on industry best practices. The PX4 community was an incredible resource, especially the community calls.

Our team then divided into subteams and subtasks: building and testing the drone, researching drone swarm and flight optimization algorithms, setting up the team’s working environment (e.g.: github, ros-docker-px4 connection) and programming computer vision capabilities.

We managed to create a virtual machine using vagrant that contains all required software in Docker, which interfaces with QGroundControl to control the drone and the simulation. We used github submodules to manage all the required packages automatically, and added sample projects for openCV and gazebo. After demonstrating that the functionality works, we managed to get the drones spinning, and the simulations running.

Unfortunately, because of restarting over many times, we were unable to fully implement the swarm logic as we hoped. Although we discuss how that can be done in the future iterations section.

The team also wanted to be able to customize the simulation by being able to import our own robot models. However figuring out how to import CAD files into Gazebo was a big learning curve, as there is not direct method of doing this and many of the solutions found online failed for us. Eventually a consistent method was found which allowed us to convert the Solidworks part files of our drone into URDF (which contains all the information needed on the robot’s motors, joints and link’s position) and dae and stl files (which define meshes and complex geometries). Finally, the team also learned how to import existing gazebo worlds and spawn the urdf model into the world. This entire method is clearly defined in the readME file of our code and can be easily reproduced for other models.

Finally, building and testing the drone had its own ups and downs. Thankfully, we had lots of resources for help, especially the handout provided by NXP and Discord. The process to build both our drones went very smoothly, despite the testing and setup steps giving us a few issues. Initially, we were unable to connect the FMU to QgroundControl. This was very worrying because no one in Discord seemed to have this issue. Nevertheless, we figured out that we were using a bad cable or adapter. We then had no more issues with the rest of the setup (e.g.: calibrating the sensors or testing the motors), except for some initial connectivity and update issues with the radio controller.

3) Remember your solution could save lives. Document how people can replicate your solution for further development and testing

[***] Might have to talk through reserving what we want to consider “IP” for our business, especially what will be highly commercializable points of business.

Environment: there are a lot of software components that go into developing drone logic. Our team worked on integrating ROS 2, Docker, PX4, OpenCV, Gazebo, and QGroundControl. We created a virtual machine using Vagrant that will automatically set up all the components and integrate them using the correct ports and versions. Users can be up and running with developing custom ROS 2 logic along with PX4 in a matter of 4 terminal commands. This is documented in the readme of the project, but the main steps are:

Clone the repo of the code

Clone the repo of the code

Install vagrant

Install vagrant

Run vagrant up to create a virtual box, which will automatically:

Run vagrant up to create a virtual box, which will automatically:

clone the required git repositories (PX4, MICRO-XRCE-DDS agent)

clone the required git repositories (PX4, MICRO-XRCE-DDS agent)

Build and run docker image

Build and run docker image

Install all software dependencies

Install all software dependencies

Install QGroundControl

Install QGroundControl

Configure the environment and ports

Configure the environment and ports

Now, anyone using it should be able to run PX4 simulation by running the commands in the readme, connect that to QGroundControl to download the firmware on the drone. Additionally, the PX4 ROS2 connection can be used for offboard control in order to allow for the connection between the NavQPlus and the microcontroller. The sample video shows the drone surveying the field, and how the NavQPlus can control the microcontroller running PX4.

In order to interface ROS2 with OpenCV you would need to follow the below steps as well adhere to the following pre-requsities:

Pre-requisites:

Ubuntu 20.04 (VirtualBox)

Ubuntu 20.04 (VirtualBox)

ROS2

ROS2

Webcam connected to the Ubutntu box

Webcam connected to the Ubutntu box

Steps:

Create an Image publisher node (image_cam.py)

Create an Image publisher node (image_cam.py)

This node allows to convert between OpenCV and ROS2 images.

This node allows to convert between OpenCV and ROS2 images.

Create an Video subscriber node (video_cam.py)

Create an Video subscriber node (video_cam.py)

This node enables live streaming of a connected camera/webcam

This node enables live streaming of a connected camera/webcam

Run the nodes on the Ubuntu machine

Run the nodes on the Ubuntu machine

Schematics

Code

FROM px4io/px4-dev-ros2-foxy:latest

ENV TERM=xterm
ENV DEBIAN_FRONTEND=noninteractive
ENV ARM_ABI_VER=10.3-2021.10

RUN echo 'Acquire::Check-Date false;' | tee -a /etc/apt/apt.conf.d/10-nocheckvalid \
    && apt-get update && apt-get install -y --no-install-recommends \
    libopencv-dev \
    python3-opencv \
    xmlstarlet \
    build-essential \
    iproute2 \
    libncurses-dev \
    libncurses5 \
    && apt-get clean \
    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/* \
    && echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc \
    && wget https://developer.arm.com/-/media/Files/downloads/gnu-rm/$ARM_ABI_VER/gcc-arm-none-eabi-$ARM_ABI_VER-x86_64-linux.tar.bz2 \
    && tar xjf gcc-arm-none-eabi-$ARM_ABI_VER-x86_64-linux.tar.bz2 -C /usr/share/ \
    && ln -sf /usr/share/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-* /usr/bin/

WORKDIR /src/app

COPY enter /enter

RUN ln -sf /enter /usr/bin/enter

ENV PYTHONUNBUFFERED=1
ENV PYTHONPATH="/opt/ros/foxy/lib/python3.8/site-packages:/src/app"
ENV AMENT_PREFIX_PATH=/opt/ros/foxy
ENV ROS_VERSION=2
ENV ROS_PYTHON_VERSION=3
ENV SHLVL=1
ENV LD_LIBRARY_PATH=/opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/opt/rviz_ogre_vendor/lib:/opt/ros/foxy/lib/x86_64-linux-gnu:/opt/ros/foxy/lib
ENV ROS_LOCALHOST_ONLY=0
ENV LC_ALL=C.UTF-8
ENV PATH=/opt/ros/foxy/bin:/usr/lib/ccache:/opt/gradle/gradle-6.3-rc-4/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
ENV CCACHE_UMASK=000
ENV ROS_DISTRO=foxy

SHELL ["/bin/bash", "-c"]

# -*- mode: ruby -*-
# vi: set ft=ruby :


Vagrant.configure("2") do |config|
  # It's possible to make git modules update on local machine before "up" 
  #config.trigger.before [:up] do |trigger|
  #  trigger.info = "Updating git submodules..."
  #  trigger.run = {path: "git submodule sync --recursive"}
  #end

  config.vm.box = "hashicorp/bionic64"
  config.vbguest.auto_update = false if Vagrant.has_plugin?("vagrant-vbguest")
  config.vm.provision "shell", inline: "echo 'Acquire::Check-Date false;' | tee -a /etc/apt/apt.conf.d/10-nocheckvalid"
  config.vm.provision "docker" do |d|
    #d.build_image "/vagrant"
    d.post_install_provision "shell",
    inline:"echo DOCKER_OPTS='${DOCKER_OPTS} -H unix:///var/run/docker.sock -H 0.0.0.0:2375' >> /etc/default/docker"

  end
  ssh_pub_key = File.readlines("#{Dir.home}/.ssh/id_rsa.pub").first.strip
  config.vm.provision "file", source: "~/.ssh/id_rsa.pub", destination: "~/.ssh/id_rsa.pub"
  config.vm.provision "file", source: "~/.ssh/id_rsa", destination: "~/.ssh/id_rsa"
  config.vm.provision "shell", inline: <<-SHELL
    cat /home/vagrant/.ssh/id_rsa.pub >> /home/vagrant/.ssh/authorized_keys
  SHELL

  # Share an additional folder to the guest VM. The first argument is
  # the path on the host to the actual folder. The second argument is
  # the path on the guest to mount the folder. And the optional third
  # argument is a set of non-required options.
  config.vm.synced_folder ".", "/vagrant", owner: "vagrant", group: "vagrant", automount: true, mount_options: ["uid=1000", "gid=1000","dmode=775","fmode=775"]

  # Provider-specific configuration so you can fine-tune various
  # backing providers for Vagrant. These expose provider-specific options.
  config.vm.provider "virtualbox" do |vb|
  #   # Display the VirtualBox GUI when booting the machine
    vb.gui = true
  #   # Customize the amount of memory on the VM:
     vb.memory = "4096"
     vb.cpus = "4"
  # Enable symlink support (tested but not working at all) workaround is in the README.md
     vb.customize ["setextradata", :id, "VBoxInternal2/SharedFoldersEnableSymlinksCreate/vagrant", "1"]
     vb.customize ["setextradata", :id, "GUI\/LastGuestSizeHint","1440,900"]
  # 3d acceleration
     vb.customize ["modifyvm", :id, "--accelerate3d","on"]
     #vb.customize ["modifyvm", :id, "--graphicscontroller","vmsvga"] # there is bug using this, as some display artifacts accurs
     vb.customize ["modifyvm", :id, "--hwvirtex","on"]
     vb.customize ["modifyvm", :id, "--ioapic","on"]
     vb.customize ["modifyvm", :id, "--vram","128"]
  # Enable USB support
     vb.customize ["modifyvm", :id, "--usb", "on"]
     vb.customize ["modifyvm", :id, "--usbehci", "on"] # for USB 2.0
#     vb.customize ["modifyvm", :id, "--usbxhci", "on"] # for USB 3.0
# Add the desired usb device, look at usb.md
#     vb.customize ["usbfilter", "add", "0",
#       "--target", :id,
#       "--name", "usbstick",
#       "--vendorid", "8644",
#       "--productid", "800B",
#       "--product", "USB Flash Disk",
#       "--manufacturer","General"]
# Attach the desired usb device on the VM startup, look at usb.md
     #vb.customize "post-boot", ["controlvm", :id, "usbattach", "p=0x800b;v=0x8644;s=0x00038015f557c434;l=0x14130000"] # macOS syntax
     #vb.customize "post-boot", ["controlvm", :id, "usbattach","{36fc9e60-c465-11cf-8056-444553540000}\\0012"] # Windows syntax
   end



  # Enable provisioning with a shell script.

  config.vm.provision "shell", privileged: true, inline: <<-SHELL
    apt-get install -y dkms
    apt-get upgrade -y
    apt-get install -y git ubuntu-desktop gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl libqt5gui5 libfuse2 libsdl2-2.0-0 ntpdate
    usermod -aG docker vagrant
    usermod -aG dialout vagrant
    sed -i 's/#  Automatic/Automatic/g' /etc/gdm3/custom.conf
    sed -i 's/user1/vagrant/g' /etc/gdm3/custom.conf
    echo "X-GNOME-Autostart-enabled=false" > /etc/xdg/autostart/gnome-initial-setup-first-login.desktop
    systemctl mask sleep.target suspend.target hibernate.target hybrid-sleep.target
    echo "export DISPLAY=:0" > /etc/profile.d/globals.sh
    if ! grep -q xhost /home/vagrant/.bashrc; then
       echo "xhost + > /dev/null" >> /home/vagrant/.bashrc
    fi
    systemctl disable apport
    # remove unecessary packages
    apt-get remove --purge -y apport whoopsie modemmanager
    rm /var/crash/*
    if ! [ -e "/home/vagrant/QGroundControl.AppImage" ]; then
      echo "QGroundControl was not found, downloading..."
      wget https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl.AppImage -O /home/vagrant/QGroundControl.AppImage
      chown vagrant:vagrant /home/vagrant/QGroundControl.AppImage
      chmod +x /home/vagrant/QGroundControl.AppImage
    fi
    sudo ntpdate pool.ntp.org
    echo "*/5 * * * * root ntpdate pool.ntp.org >> /dev/null 2>&1" > /etc/cron.d/timefix
  SHELL

  # time zone autodetection
  Vagrant.configure("2") do |config|
    require "time"
    offset = ((Time.zone_offset(Time.now.zone) / 60) / 60) + (Time.now.dst? ? 1 : 0)
    timezone_suffix = offset >= 0 ? "-#{offset.to_s}" : "+#{offset.to_s}"
    timezone = 'Etc/GMT' + timezone_suffix
    config.vm.provision :shell, privileged: true, inline: <<-'SHELL'
      ln -fs /usr/share/zoneinfo/#{timezone} /etc/localtime
      dpkg-reconfigure -f noninteractive tzdata
    SHELL
  end

  config.vm.provision :shell do |shell|
    shell.privileged = true
    shell.inline = "echo Rebooting"
    shell.reboot = true
  end

  # launch docker and redirect display to VM
  #$unprivileged = <<-SCRIPT
  config.vm.provision "shell", privileged: false, inline: <<-'SHELL'
    DISPLAY=:0 gsettings set org.gnome.settings-daemon.plugins.power sleep-inactive-battery-timeout 0
    DISPLAY=:0 gsettings set org.gnome.desktop.session idle-delay 0
    DISPLAY=:0 gsettings set org.gnome.settings-daemon.plugins.power sleep-inactive-ac-timeout 0
    DISPLAY=:0 gsettings set org.gnome.desktop.screensaver ubuntu-lock-on-suspend false
    DISPLAY=:0 gsettings set org.gnome.desktop.lockdown disable-lock-screen true
    DISPLAY=:0 gsettings set org.gnome.desktop.screensaver lock-enabled false
    # update git
    echo "Updating git modules..."
    cd /vagrant
    #git submodule sync --recursive
    git submodule update --init --recursive
    git submodule update --recursive
    echo "git is up to date"
    # Avoid the "has modification time x.x s in the future. Clock skew detected.  Your build may be incomplete." errors
    #echo "Files timestamp fix..."
    #find /vagrant/src -type f -exec touch {} +
    #echo "Files timestamp fix done."
    run=`docker container inspect -f '{{.State.Running}}' px4`
    if [ "$run" == "true" ]; then
      echo "Docker already running!!!"
      docker stop px4
      echo "Docker stopped.."
    fi
    if docker ps -aq -f status=exited -f name=px4; then
      echo "Removing docker container.."
      docker container rm px4 -f
    fi
    echo "Building docker container.."
    cd /vagrant && docker build -t px4_app .
    chmod +x /vagrant/src/app/app.py
    echo "Starting docker container.."
    docker run -d\
        --restart=always \
        --env=LOCAL_USER_ID="$(id -u)" \
        -v /vagrant:/vagrant:rw \
        -v /tmp/.X11-unix:/tmp/.X11-unix:ro \
        -e DISPLAY=:0 \
        -e LOCAL_USER_ID="$(id -u)" \
        -w /vagrant/src \
        --name=px4 px4_app sleep infinity
    DISPLAY=:0 xhost +local:
    docker exec -w /vagrant/src/PX4-Autopilot px4 make px4_sitl_default
    docker exec -w /vagrant/src px4 /enter colcon build --symlink-install
    #if ![ -e microros_ws/src/uros ]; then
    #    docker exec px4 /enter ros2 run micro_ros_setup create_agent_ws.sh
    #    mv  -v /vagrant/src/src/* /vagrant/src/microros_ws/src
    #    rm -rf /vagrant/src/src
    #fi
    docker exec  px4 /enter ros2 run micro_ros_setup build_agent.sh
    # users logged via ssh can use command: docker exec px4 gazebo ...
    # write exact ip address of the docker to the QGC config
    if ! [ -d /home/vagrant/.config/QGroundControl.org ]; then
       echo "QGC Config dir was not found, creating..."
       mkdir /home/vagrant/.config/QGroundControl.org
    fi 
    # retrieve docker ip
    echo "Retrieving docker ip..."
    DOCKER_IP=$(docker inspect -f '{{range.NetworkSettings.Networks}}{{.IPAddress}}{{end}}' px4)
    echo "Docker ip: $DOCKER_IP"
    if [ -e /home/vagrant/.config/QGroundControl.org/QGroundControl.ini ]; then
    # delete current LinkConfiguration definitions
       echo "QGC configuration was found, altering configuration..."
       sed -i '/^\[LinkConfigurations\]/,/^$/d' /home/vagrant/.config/QGroundControl.org/QGroundControl.ini
    fi
    # add new LinkConfiguration definitions
    echo "Configuring QGC Links..."
    cat >> /home/vagrant/.config/QGroundControl.org/QGroundControl.ini <<EOF
[LinkConfigurations]
Link0\auto=true
Link0\high_latency=false
Link0\host0=$DOCKER_IP
Link0\hostCount=1
Link0\name=gazebo
Link0\port=18570
Link0\port0=18570
Link0\type=1
count=1
EOF
  SHELL
end

#!/bin/bash
# Initializes environment variables for docker and executes the wanted command.

# fix UserWarning: Usage of dash-separated
if [ -e /vagrant/src/offboard_ws/src/px4-offboard/setup.cfg ]; then
  sed -i 's/script-dir/script_dir/g' /vagrant/src/offboard_ws/src/px4-offboard/setup.cfg
  sed -i 's/install-scripts/install_scripts/g' /vagrant/src/offboard_ws/src/px4-offboard/setup.cfg
fi

source /opt/ros/foxy/setup.bash

if [ -e /vagrant/src/install/local_setup.bash ]; then
  source /vagrant/src/install/local_setup.bash
fi

"$@"

[submodule "src/Micro-XRCE-DDS-Agent"]
	path = src/Micro-XRCE-DDS-Agent
	url = https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
        ignore = dirty
[submodule "src/PX4-Autopilot"]
	path = src/PX4-Autopilot
	url = https://github.com/PX4/PX4-Autopilot.git
	branch = main
        ignore = dirty
[submodule "src/microros_ws/src/micro_ros_setup"]
	path = src/microros_ws/src/micro_ros_setup
	url = https://github.com/micro-ROS/micro_ros_setup.git
	branch = foxy
        ignore = dirty
[submodule "src/offboard_ws/src/px4_msgs"]
	path = src/offboard_ws/src/px4_msgs
	url = https://github.com/PX4/px4_msgs.git
        ignore = dirty
[submodule "src/offboard_ws/src/px4-offboard"]
	path = src/offboard_ws/src/px4-offboard
	url = https://github.com/Jaeyoung-Lim/px4-offboard.git
        ignore = dirty
[submodule "src/offboard_ws/src/px4_ros_com"]
	path = src/offboard_ws/src/px4_ros_com
	url = https://github.com/PX4/px4_ros_com.git

# tayaran_nxp

## 1 Run Vagrant Up

`vagrant up`

## 2 SSH Into Virtual Machine or Log in through GUI

`vagrant ssh` | log in to with `vagrant` as both username and password

## Gazebo Simulations
### Method 1 - Dynamic Simulation

[https://docs.px4.io/v1.12/en/simulation/gazebo_vehicles.html](https://docs.px4.io/v1.12/en/simulation/gazebo_vehicles.html)

Go inside docker container using `docker attach px4` and run
`make px4_sitl gazebo_solo` for Quadrotor

### Method 2 - Static Simulation

Go inside test_pkg, source your bash and run the following:
```
ros2 launch test_pkg drone_launch.py
```

## Testing

```
vagrant ssh
docker exec -it px4 make px4_sitl_default gazebo
```

## QGroundControl

```
vagrant ssh
./QGroundControl.AppImage
```

## ROS2 Integration
Go inside docker container using `docker exec -it px4 bash`, navigate to parent directory using `cd ../..` and run
```
source /opt/ros/foxy/setup.bash
colcon build
```

## USB Support

### Install VirtualBox Extension Pack

https://www.virtualbox.org/wiki/Downloads

### List connected usb devices

```
VBoxManage list usbhost
```

### Redirect the wanted device to the Vagrant VM

```
vb.customize ["modifyvm", :id, "--usb", "on"]
vb.customize ["modifyvm", :id, "--usbehci", "on"]
vb.customize ["usbfilter", "add", "0", 
  "--target", :id, 
  "--name", "This is the identifier",
  "--manufacturer", "SuYin",
  "--product", "Laptop_Integrated_Webcam_HD"]
```

### Example

```
VBoxManage list usbhost

  UUID:               13270e22-b0e8-4efc-bd57-75541c649dee
  VendorId:           0x8644 (8644)
  ProductId:          0x800b (800B)
  Revision:           1.0 (0100)
  Port:               0
  USB version/speed:  0/High
  Manufacturer:       General 
  Product:            USB Flash Disk  
  SerialNumber:       880000000000017E
  Address:            p=0x800b;v=0x8644;s=0x00038015f557c434;l=0x14130000
  Current State:      Busy
```

Vagrant config should be:

```
vb.customize ["modifyvm", :id, "--usb", "on"]
vb.customize ["modifyvm", :id, "--usbehci", "on"]
vb.customize ["usbfilter", "add", "0",
  "--target", :id,
  "--vendorid", "8644",
  "--productid", "800B",
  "--product", "USB Flash Disk"]
```

**This will not automatically redirect usb either**, to redirect it on VM startup we have to use the following configuration option:

```
vb.customize "post-boot", ["controlvm", :id, "usbattach", "p=0x800b;v=0x8644;s=0x00038015f557c434;l=0x14130000"]
```

The last parameter is from `VBoxManage list usbhost` **Address** line.

### Linux

Untested, but should work as expected.


### Windows

VirtualBox and cmd where vagrant is called must be running with Administrator privilegies.

On Windows machine the device address can contain **\** (slahes) and must be escaped with one more slash, for example if we have the device addres like this: `{36fc9e60-c465-11cf-8056-444553540000}\0012` we have to escape \0012 with \, the full correct vagrant config line will look like:
```
vb.customize "post-boot", ["controlvm", :id, "usbattach","{36fc9e60-c465-11cf-8056-444553540000}\\0012"]
```

### MacOS Difficulties

*NS_ERROR_FAILURE (0x80004005) Unable to create proxy device for USB*

Currently, there is no known solution for it (https://forums.virtualbox.org/viewtopic.php?f=8&t=107333). Only run it with elevated privilegies (root)
So we have to run sudo `sudo /Applications/VirtualBox.app/Contents/MacOS/VirtualBox` and then `sudo vagrant up`


## Git submodules reset

### Method 1

```
git submodule foreach --recursive git reset --hard
```
However, it may fail under some cases, especially after a merging which remove/add submodules.

### Method 2

```
# unbinds all submodules
git submodule deinit -f .
# checkout again
git submodule update --init --recursive
```

## Import Solidworks CAD into Gazebo
> Install the SW2URDF Add-in to Solidworks. See: http://wiki.ros.org/sw_urdf_exporter
> Generate URDF of the model using the Add-in. Follow this tutorial: http://wiki.ros.org/sw_urdf_exporter/Tutorials/Export%20an%20Assembly
> Using drone_launch.py as a template: select the gazebo world you want from its collection (see: https://github.com/leonhartyao/gazebo_models_worlds_collection) and add your urdf file.

"""Launch Gazebo server and client with command line arguments."""
"""Spawn robot from URDF file."""


import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.substitutions import LaunchConfiguration
def generate_launch_description():
    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
    robot_name = 'test_pkg'
    world_file_name = 'agriculture.world'

    world = os.path.join('src/test_pkg/Quadcopter2', 'worlds', world_file_name)

    urdf = os.path.join('src/test_pkg/Quadcopter2', 'urdf', 'Quadcopter2.urdf')

    xml = open(urdf, 'r').read()

    xml = xml.replace('"', '\\"')

    swpan_args = '{name: \"my_robot\", xml: \"' + xml + '\" }'

    return LaunchDescription([
        ExecuteProcess(
            cmd=['gazebo', '--verbose', world,
                 '-s', 'libgazebo_ros_factory.so'],
            output='screen'),

        ExecuteProcess(
            cmd=['ros2', 'param', 'set', '/gazebo',
                 'use_sim_time', use_sim_time],
            output='screen'),

        ExecuteProcess(
            cmd=['ros2', 'service', 'call', '/spawn_entity',
                 'gazebo_msgs/SpawnEntity', swpan_args],
            output='screen'),
    ])

Tayaran Drones

Things used in this project

Software apps and online services

Hand tools and fabrication machines

Story

Custom parts and enclosures

Drone URDF File

Schematics

Drone Schematics

Code

DockerFile

VagrantFile

enter

gitmodules

readme

drone launch file

tayaran_nxp repository

Credits

Prince Aly

Gabriella GG

Michael Moorer

Jack Green

Comments

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Tayaran Drones

Tayaran Drones

Things used in this project

Software apps and online services

Hand tools and fabrication machines

Story

Custom parts and enclosures

Drone URDF File

Schematics

Drone Schematics

Code

DockerFile

VagrantFile

enter

gitmodules

readme

drone launch file

tayaran_nxp repository

Credits

Prince Aly

Gabriella GG

Michael Moorer

Jack Green

Comments