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projects:lps:index [2016-05-24 14:24] arnaud [Building and flashing] |
projects:lps:index [2020-05-12 14:30] (current) kimberly |
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- | <WRAP center round info> | + | <WRAP center round important 60%> |
- | //**Alpha production**// | + | This page has deprecated and moved to the new documentation framework of the main Bitcraze website. Please go to [[https:// |
- | Currently this product is only available as part if our [[https:// | + | |
</ | </ | ||
- | ====== System | + | ====== |
- | The local positioning system is based on the [[http:// | + | |
- | <WRAP group> | + | The loco positioning system |
- | <WRAP half column> | + | |
- | Our testsystem uses the following components: | + | |
- | * 6 anchors | + | |
- | * 1 deck | + | |
- | * Computer running [[http:// | + | |
- | * Crazyflie client with ZMQ to mix manual and automatic control | + | |
- | </ | + | |
- | <WRAP half column> | + | |
- | Here's a video of the current state (March 2016). | + | |
- | {{youtube> | + | |
- | </ | + | |
- | </ | + | |
- | ====== Hardware description | + | ===== Hardware description ===== |
- | The hardware consists | + | The hardware consists |
* [[projects: | * [[projects: | ||
- | * [[projects: | + | * [[projects: |
- | ====== Firmware ====== | + | |
- | + | ||
- | ===== DWM Node ===== | + | |
- | + | ||
- | + | ||
- | ===== DWM deck ===== | + | |
- | The firmware for the DWM deck is included in the Crazyflie 2.0 firmware build (recent) and activated when the deck is attached. The deck contains a small memory that holds the address of the board as well as the addresses of the anchors it will use for ranging. | + | |
- | + | ||
- | More information on building the firmware and the firmware itself can be found [[https:// | + | |
- | + | ||
- | ====== ROS ====== | + | |
- | + | ||
- | The ROS module for positioning with the LPS is available on Github: https:// | + | |
- | + | ||
- | To get started from a newly installed ubuntu: | + | |
- | - Install ROS: http:// | + | |
- | - Create your workspace: http:// | + | |
- | - Clone https:// | + | |
- | - Run // | + | |
- | - Source the workspace // | + | |
- | - Run //rosdep install bitcraze_lps_estimator// | + | |
- | + | ||
- | The position of the anchor has to be entered in a configuration file. The file should be // | + | |
- | <file yaml anchor_pos.yaml> | + | |
- | n_anchors: 6 | + | |
- | anchor0_pos: | + | |
- | anchor1_pos: | + | |
- | anchor2_pos: [ 4, 2, 1.85] | + | |
- | anchor3_pos: | + | |
- | anchor4_pos: | + | |
- | anchor5_pos: | + | |
- | </ | + | |
- | + | ||
- | The positions are in meter, [x, y, z], from the origin. | + | |
- | + | ||
- | When this file is configured, the // | + | |
- | <code bash> | + | |
- | $ roslaunch bitcraze_lps_estimator dwm_loc.launch uri: | + | |
- | </ | + | |
- | ====== Set up ====== | + | |
- | the dwm nodes can be configured in 3 different modes; | + | |
- | A nice way to power the anchors is to use usb power pack like we do here: | + | |
- | + | ||
- | {{: | + | |
- | Place the anchors at least 15 cm from the floor/ | ||
- | We use 3d printed anchor-stands that can be found at: https:// | ||
- | One of the main consideration for the anchor placement is the [[https:// |