GITBOOK-80: Major Changes and refactoring

README.md

@@ -22,8 +22,8 @@ Here are the articles in this book:
 [estimation](estimation/)
 {% endcontent-ref %}
 
-{% content-ref url="computer-vision.md" %}
-[computer-vision.md](computer-vision.md)
+{% content-ref url="computer-vision/" %}
+[computer-vision](computer-vision/)
 {% endcontent-ref %}
 
 {% content-ref url="machine-learning/" %}

SUMMARY.md

@@ -11,6 +11,9 @@
     * [PX4 Setup](tutorials/workspace-setup/px4-setup/README.md)
       * [PX4 Toolchain Setup](tutorials/workspace-setup/px4-setup/px4-toolchain-setup.md)
     * [Ardupilot Setup](tutorials/workspace-setup/ardupilot-setup.md)
+    * [Installing Ground Control Station](tutorials/workspace-setup/installing-ground-control-station/README.md)
+      * [QGroundControl](tutorials/workspace-setup/installing-ground-control-station/qgroundcontrol.md)
+      * [Mission Planner](tutorials/workspace-setup/installing-ground-control-station/mission-planner.md)
   * [How to Write a ROS Package](tutorials/how-to-write-a-ros-package/README.md)
     * [ROS Package](tutorials/how-to-write-a-ros-package/ros-package.md)
     * [Node Handles, Parameters, and Topics](tutorials/how-to-write-a-ros-package/node-handles-parameters-and-topics.md)
@@ -27,15 +30,12 @@
     * [Odroid XU4 Setup](tutorials/miscellaneous/odroid-xu4-setup.md)
     * [Simulation using Offboard Control](tutorials/miscellaneous/simulation-using-offboard-control/README.md)
       * [Enable Offboard Mode in PX4](tutorials/miscellaneous/simulation-using-offboard-control/enable-offboard-mode-in-px4.md)
-    * [Camera Calibration](tutorials/miscellaneous/camera-calibration.md)
     * [Writing a UDev rule](tutorials/miscellaneous/writing-udev-rule.md)
     * [Sensor fusion](tutorials/miscellaneous/sensor-fusion.md)
-    * [ArUco ROS](tutorials/miscellaneous/using-aruco\_ros.md)
-    * [TF2](tutorials/miscellaneous/tf2.md)
   * [Reference wiki links](tutorials/dump1.md)
 * [Concepts](concepts/README.md)
   * [Quaternions](concepts/quaternions/README.md)
-    * [theory](concepts/quaternions/dump2.md)
+    * [Theory](concepts/quaternions/dump2.md)
   * [Kalman Filters](concepts/kalman-filters.md)
   * [Rotations](concepts/rotations.md)
   * [Path Planning](concepts/path-planning/README.md)
@@ -76,7 +76,9 @@
     * [DIYing a VI-Sensor](estimation/vio/diying-a-vi-sensor.md)
   * [Setup with VICON](estimation/setup-with-vicon.md)
   * [Odometry from pose data](estimation/odometry-from-pose-data.md)
-* [Computer Vision](computer-vision.md)
+* [Computer Vision](computer-vision/README.md)
+  * [Camera Calibration](computer-vision/camera-calibration.md)
+  * [ArUco ROS](computer-vision/using-aruco\_ros.md)
 * [Machine Learning](machine-learning/README.md)
   * [Datasets](machine-learning/datasets.md)
 * [Hardware Integration](hardware-integration/README.md)

computer-vision.md → computer-vision/README.md

@@ -1,7 +1,11 @@
+---
+description: A brief overview of hardware and various algorithms employed.
+---
+
 # Computer Vision
 
 {% hint style="info" %}
-Keep checking for updates!
+
 {% endhint %}
 
 Here are the articles in this section:

tutorials/miscellaneous/camera-calibration.md → computer-vision/camera-calibration.md

@@ -1,14 +1,10 @@
----
-description: How to calibrate the camera.
----
-
 # Camera Calibration
 
 The standard camera model used in OpenCV and ROS is referred to as the Pinhole model. You can read more about it here:
 
 {% embed url="https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html" %}
 
-[ ](https://gajena.gitbook.io/aerial-robotics/camera\_calibration)The camera can be calibrated by one of the three following ways:
+The camera can be calibrated by one of the three following ways:
 
 ### 1.Kalibr
 

tutorials/how-to-write-a-ros-package/transformations.md

@@ -12,5 +12,56 @@ Further details on the transformation notation, frame names and conventions can
 
 {% embed url="https://github.com/ethz-asl/mav_tools/wiki/Coordinate-Systems" %}
 
+## TF2
 
+### tf-remapping
+
+Here,
+
+* old: contains the name of tf that needs to be remapped
+* new: new name of tf
+
+```markup
+<launch>
+ 
+ <!--tf remmapper node-->
+  <node pkg="tf" type="tf_remap" name="tf_remapper" output="screen">
+    <rosparam param="mappings">
+      [{old: /imu, new: /base_link}]
+    </rosparam>
+  </node>
+
+ <!--node whose tf needs to be remapped-->
+  <node pkg="rosbag" type="play" name="player" args="/home/drive/test.bag">
+    <remap from="tf" to="tf_old" />
+  </node>
+
+</launch>
+```
+
+The topic subscribed to is:
+
+**/tf\_old** (tf/tfMessage) -- Old transform tree. This is usually published by remapping playback of a bag file. You may need to set use\_sim\_time as true for the bag file transforms to be accepted.
+
+The topic published is:
+
+**/tf** (tf/tfMessage) -- Current transform tree. This is the normal /tf topic.
+
+### publish-static-transforms
+
+static\_transform\_publisher x y z yaw pitch roll frame\_id child\_frame\_id period\_in\_ms
+
+> Publish a static coordinate transform to tf using an x/y/z offset in meters and yaw/pitch/roll in radians. (yaw is rotation about Z, pitch is rotation about Y, and roll is rotation about X). The period, in milliseconds, specifies how often to send a transform. 100ms (10hz) is a good value.
+
+static\_transform\_publisher x y z qx qy qz qw frame\_id child\_frame\_id period\_in\_ms
+
+> Publish a static coordinate transform to tf using an x/y/z offset in meters and quaternion. The period, in milliseconds, specifies how often to send a transform. 100ms (10hz) is a good value.
+
+static\_transform\_publisher is designed both as a command-line tool for manual use, as well as for use within roslaunch files for setting static transforms. For example:
+
+```markup
+<launch>
+<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 link1_parent link1 100" />
+</launch>
+```
 

tutorials/miscellaneous/README.md

@@ -14,22 +14,10 @@ Articles in this section:
 [simulation-using-offboard-control](simulation-using-offboard-control/)
 {% endcontent-ref %}
 
-{% content-ref url="camera-calibration.md" %}
-[camera-calibration.md](camera-calibration.md)
-{% endcontent-ref %}
-
 {% content-ref url="writing-udev-rule.md" %}
 [writing-udev-rule.md](writing-udev-rule.md)
 {% endcontent-ref %}
 
 {% content-ref url="sensor-fusion.md" %}
 [sensor-fusion.md](sensor-fusion.md)
 {% endcontent-ref %}
-
-{% content-ref url="using-aruco_ros.md" %}
-[using-aruco\_ros.md](using-aruco\_ros.md)
-{% endcontent-ref %}
-
-{% content-ref url="tf2.md" %}
-[tf2.md](tf2.md)
-{% endcontent-ref %}

tutorials/workspace-setup/installing-ground-control-station/README.md

@@ -0,0 +1,6 @@
+---
+description: Your Sky's Commander!"
+---
+
+# Installing Ground Control Station
+

tutorials/workspace-setup/installing-ground-control-station/mission-planner.md

@@ -0,0 +1,41 @@
+# Mission Planner
+
+## For Window's peeps
+
+The following instructions show how to install _Mission Planner_ on Windows. These instructions will be suitable for most users
+
+1. Download the [latest Mission Planner installer from here](https://firmware.ardupilot.org/Tools/MissionPlanner/MissionPlanner-latest.msi)
+2. Double click on the downloaded **.msi** file to run the installer
+3. Follow the instructions to complete the setup process. The installation utility will automatically install any necessary software drivers. If you receive a DirectX installation error, please update your DirectX plug-in from the [Windows Download Center](https://www.microsoft.com/en-us/download/windows.aspx).
+4. If you receive a warning stating Window's cant verify the publisher of the driver, select **Install this driver software anyway** to continue.
+
+{% hint style="info" %}
+Mission Planner is normally installed in the **C:\Program Files (x86)\Mission Planner** folder.
+
+An icon to open the _Mission Planner_ is created according to your instructions during the installation.
+{% endhint %}
+
+## For Linux's peeps
+
+It is possible to run most Windows based programs on many Linux Distributions using MONO. Mission Planner does run under MONO but will have occasional issues and/or crashes.
+
+1. Download and install the latest version of MONO from [here](https://www.mono-project.com/download/stable/).
+2. Download Mission Planner as a zip file from [here](https://firmware.ardupilot.org/Tools/MissionPlanner/MissionPlanner-latest.zip) and unzip to a directory.
+3.  Change to that directory and execute:
+
+    ```bash
+    mono MissionPlanner.exe
+    ```
+
+Boom! You're all ready to roll with MissionPlanner!
+
+\
+
+
+\
+
+
+\
+
+
+\

tutorials/workspace-setup/installing-ground-control-station/qgroundcontrol.md

@@ -0,0 +1,52 @@
+# QGroundControl
+
+## For Window's peeps
+
+_QGroundControl_ can be installed on 64 bit versions of Windows:
+
+1. Download [QGroundControl-installer.exe](https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl-installer.exe).
+2. Double click the executable to launch the installer.
+
+{% hint style="warning" %}
+The Windows installer creates 3 shortcuts: **QGroundControl**, **GPU Compatibility Mode**, **GPU Safe Mode**. Use the first shortcut unless you experience startup or video rendering issues
+{% endhint %}
+
+## For Linux's peeps
+
+_QGroundControl_ can be installed/run on Ubuntu LTS 20.04 (and later).
+
+Ubuntu comes with a serial modem manager that interferes with any robotics related use of a serial port (or USB serial). Before installing _QGroundControl_ you should remove the modem manager and grant yourself permissions to access the serial port. You also need to install _GStreamer_ in order to support video streaming.
+
+1.  On the command prompt enter:
+
+    ```bash
+    sudo usermod -a -G dialout $USER
+    sudo apt-get remove modemmanager -y
+    sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
+    sudo apt install libqt5gui5 -y
+    sudo apt install libfuse2 -y
+    ```
+2. Logout and login again to enable the change to user permissions.
+
+  To install _QGroundControl_:
+
+1. Download [QGroundControl.AppImage](https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl.AppImage).
+2.  Install (and run) using the terminal commands:\
+
+
+    ```bash
+    chmod +x ./QGroundControl.AppImage
+    ./QGroundControl.AppImage  (or double click)
+
+    ```
+
+\
+Boom! You're all ready to roll with QGroundControl!
+
+\
+
+
+\
+
+
+\

tutorials/workspace-setup/installing-ubuntu.md

@@ -36,7 +36,7 @@ Rufus Official Site for downloading. Rufus helps you burn ISO on your drives
 
 Install Rufus, and upon starting the application should look like:
 
-<img src="../../.gitbook/assets/image.png" alt="" data-size="original">
+<img src="../../.gitbook/assets/image (1).png" alt="" data-size="original">
 
 Insert the external flash drive, Rufus would automatically detect it as _Device._\
 Under _Boot Selection_ choose the ISO file downloaded above.\
@@ -50,7 +50,7 @@ Reboot your system, and while it turns on, before your laptop's brand's icon sho
 
 Repeatedly press the key (Keys to be pressed vary a lot, usually it is`F2`, confirm from ) until the BIOS Menu shows up, something like this:
 
-<img src="../../.gitbook/assets/image (1).png" alt="" data-size="original">
+<img src="../../.gitbook/assets/image (1) (1).png" alt="" data-size="original">
 
 Turn off `UEFI Secure Boot` and `Legacy Boot` (if available) settings.\
 Now in the _Boot Device Select Menu_ change the `Boot Order` to USB first.\