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BlueROV-8: Functions to Drive the Vehicle
Some functions like goto function or speed setting function are limited because they are GPS dependent. GPS is not available for an underwater robot. If I change the vehicle mode to "ALT_HOLD", the ar原创 2017-05-09 13:29:41 · 499 阅读 · 0 评论 -
BlueROV-10: Mission Command
1. Mission Command Overview:There are three types of commands: NAVigation commands (MAV_CMD_NAV_*) are used to control vehicle movement, including takeoff, moving to and around waypoints, chan原创 2017-05-14 11:18:20 · 414 阅读 · 0 评论 -
BlueROV-14: Analysis of Communication Protocol MAVlink
1. The basic structure of APM codes:Basic knowledge: http://dev.ardupilot.com/wiki/learning-the-ardupilot-codebase/Description: http://dev.ardupilot.com/wiki/learning-ardupilot-introduction/原创 2017-06-05 14:23:36 · 853 阅读 · 0 评论 -
BlueROV-13: Configuring Parameters in QGroundControl
Everything is changed apart from THR_MIN, there is no such parameter in the qgroundcontrol at all. The only one similar is:Calibrate the radio using the joystick, and finish setting the flight原创 2017-05-24 18:03:36 · 578 阅读 · 0 评论 -
BlueROV-16: Solve the initialization problem
Group meeting: Reactive Control of Autonomous Drones.Bharath taught me how to debug a python project for the whole afternoon. Learned a lot!Try to solve the initialization problem by using:原创 2017-06-30 18:09:41 · 716 阅读 · 0 评论 -
BlueROV-17: Install Python Virtual Environment & Github
1. Install Python Virtual Environment:http://liuzhijun.iteye.com/blog/1872241At a proper path(/home/pi/)Install:sudo apt-get install python-virtualenvBuild a new virtual environment named原创 2017-07-11 19:12:03 · 491 阅读 · 0 评论 -
ROS学习笔记-2: 编写服务端与客户端
定义srv服务roscd beginner_tutorialsmkdir srvcd srvtouch AddTwoInts.srvrosed beginner_tutorials AddTwoInts.srv (使用rosed需要安装vim)srv文件分为请求和响应两部分,由'---‘分隔。在AddTwoInts.srv中输入代码:int64 Aint原创 2017-07-19 13:33:17 · 597 阅读 · 0 评论 -
BlueROV-6: Quick Start of Dronekit and Connect Dronekit to the Vehicle
Quick Start of Dronekit(Simulator): http://python.dronekit.io/guide/quick_start.htmlsudo pip install dronekit or sudo -H pip install dronekitsudo pip install dronekit-sitl or sudo -H pip原创 2017-05-04 18:44:02 · 553 阅读 · 0 评论 -
BlueROV-12: Install Raspbian and ssh Connection
We can change the arming check like this. The GPS/SINS/BARO integrated system can provide high dynamic and accuracy navigation for UAV flight.The battery is damaged because it is over-discharg原创 2017-05-21 15:25:46 · 464 阅读 · 0 评论 -
BlueROV-5: Install APM Planner 2 on Rasberry Pi
Install APM Planner 2 on the rasberry pi systemhttp://plane.ardupilot.com/planner2/docs/installation-for-linux.htmlhttp://discuss.ardupilot.org/t/download-latest-apm-planner-2-0-20-and-other-r原创 2017-04-29 01:00:52 · 754 阅读 · 0 评论 -
BlueROV-4: DroneKit, MAVLink and Companion Computers
http://python.dronekit.io/About DroneKit:DroneKit-Pythonallows developers to create apps that run on an onboardcompanioncomputer and communicate with the ArduPilot flightcontroller using a low原创 2017-04-27 12:33:40 · 1297 阅读 · 0 评论 -
BlueROV-3: Fathom-S Tether Interface Board Set and Batteries
Fathom-S Tether Interface Board Set is for connecting the fathom and camera chip.https://www.bluerobotics.com/store/electronics/fathom-s-r1/ Finished this step:Searched the typ原创 2017-04-26 15:08:15 · 1117 阅读 · 0 评论 -
BlueROV-2: Basic ESC Documentation: Speed Controller
http://docs.bluerobotics.com/besc/Quick Start:Connect the three motor wires to the motor. The order of connections does not matter, however, switching any two wires will change the d原创 2017-04-25 11:34:04 · 806 阅读 · 0 评论 -
BlueROV-1: Meeting Notes and List of Things We Need
Two high level goals:Autonomy Autonomy with inertial tracking of the robotSpecifics:Figure out power supply for the thrustersUPS? Power supply for the electronicsAvoi原创 2017-04-25 11:27:32 · 597 阅读 · 0 评论 -
BlueROV-11: Full Flight Control and Mission Planning with QGroundControl
1. Pixhawk Initial Configuration using qgroundcontrol:http://dev.px4.io/starting-initial-config.htmlCalibrate the sensors first:Download the xbox 360 driver: http://www.tweaking4all.com/os-t原创 2017-05-15 17:52:33 · 833 阅读 · 0 评论 -
BlueROV-9: Driving Control
Home location:http://python.dronekit.io/guide/vehicle_state_and_parameters.htmlThe Home location isset when a vehicle first gets a good location fix from the GPS. The location isused as the targ原创 2017-05-12 12:29:36 · 1374 阅读 · 0 评论 -
BlueROV-7: Keep Learning Dronekit
The motors can spin now by using the following program:from dronekit import connect,VehicleModeimport sysimport time # Connect to UDP endpoint (andwait for default attributes to accumulate)原创 2017-05-07 13:12:02 · 997 阅读 · 0 评论 -
ROS学习笔记-1: 构建工作空间-创建catkin包-编写发布器与订阅器
1.ROS文件系统介绍http://wiki.ros.org/cn/ROS/Tutorials/NavigatingTheFilesystem2.Installing catkinhttp://wiki.ros.org/catkin#Installing_catkin3.转书《ROS开源机器人控制基础》P25:2)catkin工作空间4.Creating a w原创 2017-07-18 17:36:31 · 806 阅读 · 0 评论