SkyNet-ROS2

SkyNet-ROS2 is a ROS 2 package designed for controlling and managing Crazyflie 2.1 drones. This project includes functionalities such as drone streaming, mapping, and navigation using the ROS 2 Humble framework.

Index

• Project Overview
• Prerequisites
• Project Setup
• Running the Project
  • Teleoperation with teleop_twist_keyboard
• Explanation of Important Scripts and Configurations
  • Configuration Files
  • Launch Files
  • Scripts
  • Source Code
• ROS 2 Messages and Services
  • Messages
  • Services
• Contributing
• License
• Acknowledgements

Project Overview

SkyNet-ROS2 provides a comprehensive solution for Crazyflie 2.1 drones, offering features like:

• AIDECK streaming
• Multi-ranger mapping
• Navigation with Nav2
• Teleoperation

Prerequisites

1. Crazyflie 2.1 Setup

   • Ensure you have a Crazyflie 2.1 drone with the necessary firmware.
   • Install the Crazyflie Python library.

2. ROS 2 Humble Installation

   • Follow the official ROS 2 Humble installation guide for your operating system.

Project Setup

1. Clone the repository:

   git clone https://github.com/Adyansh04/SkyNet-ROS2.git
   cd SkyNet-ROS2

2. Build the workspace:

   colcon build

3. Source the setup file:

   source install/setup.bash

Running the Project

To launch the various functionalities, use the provided launch files:

Multi-ranger Mapping:

Uses SLAM Toolbox for Mapping.

ros2 launch skynet multiranger_mapping_launch.py

Multi-ranger Navigation:

The multiranger_nav2_launch.py script enables autonomous navigation for Crazyflie 2.1 drones using the ROS 2 Navigation Stack.

ros2 launch skynet multiranger_nav2_launch.py

Simple Mapper:

ros2 launch skynet multiranger_simple_mapper_launch.py

Startup:

ros2 launch skynet startup.launch.py

Pulling the Docker Image

To pull the latest version of the Docker image, use the following command:

docker pull adyansh04/crazyflie-ros2:latest

Running the Docker Container

To run the container with access to your host's display and USB devices, including GPU support, use the following shell script. This script should be placed in the docker/ folder of your project and can be named run_container.sh:

./docker/run_container.sh

Ensure that this script is executable:

chmod +x docker/run_container.sh

Opening Another Terminal Session

To interact with the same running Docker container from another terminal session, use the docker exec command. Here's a shell script that can be named open_terminal.sh in the docker/ folder:

./docker/open_terminal.sh

Teleoperation with teleop_twist_keyboard

You can control the drone manually using the teleop_twist_keyboard package. This package allows you to send velocity commands to the drone from your keyboard.

Install teleop_twist_keyboard:

sudo apt install ros-humble-teleop-twist-keyboard

Launch the startup file:

ros2 launch skynet startup.launch.py

Run teleop_twist_keyboard:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Control the Drone:

• Use the arrow keys to move the drone.
• Press t to take off.
• Press b to land.

Explanation of Important Scripts and Configurations

Configuration Files

• config/aideck_streamer.yaml: Configuration for AIDECK streamer.
• config/crazyflies.yaml: Configuration file listing Crazyflie drones.
• config/nav2_params.yaml: Parameters for Nav2 navigation stack.
• config/slam.rviz: RViz configuration for SLAM.

Launch Files

• launch/multiranger_mapping_launch.py: Launch file for multi-ranger mapping.
• launch/multiranger_nav2_launch.py: Launch file for multi-ranger navigation.
• launch/multiranger_simple_mapper_launch.py: Launch file for simple mapping with multi-ranger.
• launch/startup.launch.py: General startup launch file.

Scripts

• scripts/aideck_streamer.py: Script for streaming data from the AIDECK.
• scripts/crazyflie_server.py: Server script for handling Crazyflie communication.
• scripts/simple_mapper_multiranger.py: Script for simple mapping using multi-ranger sensors.
• scripts/vel_mux.py: Script for velocity multiplexer.

Source Code

• src/crazyflie_server.cpp: C++ implementation of the Crazyflie server.
• src/teleop.cpp: Teleoperation control implementation.

ROS 2 Messages and Services

Messages

• skynet_interfaces/msg/ConnectionStatistics.msg: Message definition for connection statistics.
• skynet_interfaces/msg/FullState.msg: Full state message definition.
• skynet_interfaces/msg/Hover.msg: Hover control message.
• skynet_interfaces/msg/Position.msg: Position message definition.

Services

• skynet_interfaces/srv/Arm.srv: Service for arming the drone.
• skynet_interfaces/srv/GoTo.srv: Service for navigating to a specified position.
• skynet_interfaces/srv/Land.srv: Service for landing the drone.
• skynet_interfaces/srv/Takeoff.srv: Service for drone takeoff.
• skynet_interfaces/srv/UploadTrajectory.srv: Service for uploading a trajectory.

Contributing

Feel free to submit issues, fork the repository, and create pull requests. Contributions are welcome!

License

This project is licensed under the MIT License - see the LICENSE file for details.

Acknowledgements

This project was inspired by the need for efficient and reliable drone control using ROS 2 and Crazyflie.