Project

General

Profile

Wiki » History » Version 16

Martin Jacquet, 2020-10-20 10:28

1 1 Martin Jacquet
h1. Perceptive and torque-control NMPC wiki
2
3 2 Martin Jacquet
h2. I - Software Overview
4 1 Martin Jacquet
5 2 Martin Jacquet
h3. I.1. Openrobots
6 1 Martin Jacquet
7
Collections of all the open-source software used at LAAS. You can find more details in "Openrobots Wiki-Homepage":https://www.openrobots.org/wiki
8
>
9
10 11 Martin Jacquet
11 2 Martin Jacquet
h3. I-2. Robotpkg
12 1 Martin Jacquet
13 2 Martin Jacquet
"Robotpkg":http://robotpkg.openrobots.org/ is a packaging system for installing robotics software developed by the robotic community.
14
We will use robotpkg to install the required modules for the simulations (state estimation, gazebo interface...) as well as third-party dependencies (qpOases).
15 1 Martin Jacquet
>
16
17 11 Martin Jacquet
18 2 Martin Jacquet
h3. I-3. GenoM
19 1 Martin Jacquet
20 5 Martin Jacquet
The Generator of Modules, aka GenoM, generator of modules, designed to be middleware independant, i.e. the same module can be compiled for, e.g., ROS or Pocolibs, without any modification.
21 2 Martin Jacquet
This allows a great code re-usability and to abstract the user from any specific choice of a middleware.
22 5 Martin Jacquet
Originally GenoM has been developed tightly with Pocolibs, then from version 3, aka GenoM3, ROS templates has been provided.
23 1 Martin Jacquet
>
24 2 Martin Jacquet
Another specificity of GenoM is the interaction with and between components.
25
Each component is started independantly like a linux executable (within a roscore, for ROS, or a h2 intance, for Pocolibs), then the connection between ports (or topics) is made using a supervisor, "Genomix":https://git.openrobots.org/projects/genomix, either with it "Matlab":https://git.openrobots.org/projects/matlab-genomix or "TCL":https://git.openrobots.org/projects/tcl-genomix. 
26
>
27 1 Martin Jacquet
28 11 Martin Jacquet
29 2 Martin Jacquet
h3. I-4. Pocolibs
30 1 Martin Jacquet
31 2 Martin Jacquet
"Pocolibs":https://www.openrobots.org/wiki/pocolibs/ is a middleware, like ROS.
32 6 Martin Jacquet
It aims at being more performant and faster than ROS, when running on a single machine, thanks to the exploitation of shared memory. ROS, on the other hand, uses a network layer for sending messages between nodes, this leads to greater delays and loss of performances.
33 1 Martin Jacquet
>
34
35 11 Martin Jacquet
36 4 Martin Jacquet
h3. I-5. TeleKyb
37 2 Martin Jacquet
38
The "TeleKyb":https://git.openrobots.org/projects/telekyb3 software platform provides the aerial-robotic oriented softwares developped at LAAS-CNRS.
39
In particular, we will use:
40
* "mrsim":https://git.openrobots.org/projects/mrsim-genom3 a Multi-Robot SIMulator. It is design to be a transparent interface w.r.t. the real aerial vehicles used in LAAS-CNRS. It makes the transition between simulation and experiment transparent, from the software point of view.
41 3 Martin Jacquet
* "pom":https://git.openrobots.org/projects/pom-genom3 a UKF-based state estimator merging state feedback for different sources (e.g. mocap + IMU)
42
* "optitrack":https://git.openrobots.org/projects/optitrack-genom3 export the motion capture data to the genom software stack
43
* "rotorcraft":https://git.openrobots.org/projects/rotorcraft-genom3 low-level interface, with either the simulated or real platform
44
* "nhfc":https://git.openrobots.org/projects/nhfc-genom3 near-hovering flight controller, used for unmodeled take-off and post-failure recovery
45
* "maneuver":https://git.openrobots.org/projects/maneuver-genom3 a global trajectory planner, providing position and attitude (as quaternions) as well as first and second derivatives. It implement take-off and waypoint-to-waypoint motions. A joystick-based velocity control is implemented, but not used in this project.
46 1 Martin Jacquet
>
47
48 11 Martin Jacquet
49 4 Martin Jacquet
h3. I-6. Gazebo
50 1 Martin Jacquet
51 4 Martin Jacquet
To simulate the platform, we use the "Gazebo":http://gazebosim.org/ simulator. To interface it with the genom software stack, we use two dedicated components:
52
* "mrsim-gazebo":https://git.openrobots.org/projects/mrsim-gazebo a plugin to interface the simulated multi-rotor with the genom components (in place of mrsim)
53
* "optitrack-gazebo":https://git.openrobots.org/projects/optitrack-gazebo emulates the optitrack network interface to publish the model poses
54
>
55 2 Martin Jacquet
56 11 Martin Jacquet
57
58 2 Martin Jacquet
h2. II - Installation procedure
59 7 Martin Jacquet
60
This section is a tutorial on how to install the software architecture to run the simulations.
61
Note that everything has been tested on Ubuntu 18.04 since it is the OS used by the LAAS-CNRS robotic platform. It should work seamlessly on other OS, but there is no guarantee.
62
>
63
64 11 Martin Jacquet
65 7 Martin Jacquet
h3. II-0. Clone the Perceptive and torque-control NMPC repository
66
67
Clone the repo associated to this project. Its root will act as the devel folder for the following.
68
<pre><code class="shell">
69
git clone git://redmine.laas.fr/laas/perceptive-torque-nmpc.git
70
cd ./perceptive-torque-nmpc/
71
</code></pre>
72 11 Martin Jacquet
>
73 15 Martin Jacquet
To simplify the installation, we provide some environment variables in the @env.sh@ file.
74
In order to run all the installed executables, we need to setup the path to the newly created folders.
75
We provide a @env.sh@ script that exports all the required variables. In the root folder, do:
76
<pre><code class="shell">
77
source env.sh
78
</code></pre>
79
>
80 7 Martin Jacquet
81 11 Martin Jacquet
82 7 Martin Jacquet
h3. II-1. Setup robotpkg
83
84
(Steps taken from http://robotpkg.openrobots.org/install.html)
85 10 Martin Jacquet
86
h4. 1. Clone the robotpkg lastest release:
87 7 Martin Jacquet
88 1 Martin Jacquet
<pre><code class="shell">
89
git clone git://git.openrobots.org/robots/robotpkg
90 7 Martin Jacquet
</code></pre>
91 10 Martin Jacquet
92
h4. 2. Create an install folder called @openrobots/@, and update the environement variables accordingly, to ease the future steps:
93 7 Martin Jacquet
94
<pre><code class="shell">
95 1 Martin Jacquet
mkdir openrobots
96
export ROBOTPKG_BASE=`pwd`/openrobots
97 7 Martin Jacquet
</code></pre>
98
99 10 Martin Jacquet
h4. 3. Install robotpkg
100
101 1 Martin Jacquet
<pre><code class="shell">
102
cd robotpkg/bootstrap
103 7 Martin Jacquet
./bootstrap --prefix=$ROBOTPKG_BASE
104
</code></pre>
105
106 10 Martin Jacquet
h4. 4. Install the required components and there dependencies
107
108 8 Martin Jacquet
The installation can be done 'manually' by navigating to the desired folder in @./robotpkg/@ and install with @make update@; but we will simplify the process using a _set_.
109
To do so, we need to edit the config file: @$ROBOTPKG_BASE/etc/robotpkg.conf@. Add the following at the end of the file:
110
<pre><code class="shell">
111
PKG_OPTIONS.%-genom3 = \
112
        codels \
113
        pocolibs-server \
114
        pocolibs-client-c
115
116
PKGSET.mpcset = \
117
    sysutils/arduio-genom3 \
118
    architecture/genom3 \
119
    architecture/genom3-pocolibs \
120
    robots/rotorcraft-genom3 \
121 1 Martin Jacquet
    localization/pom-genom3 \
122
    localization/optitrack-genom3 \
123 8 Martin Jacquet
    motion/nhfc-genom3 \
124 1 Martin Jacquet
    optimization/qpoases \
125 8 Martin Jacquet
    net/genomix \
126 9 Martin Jacquet
    supervision/matlab-genomix \
127 10 Martin Jacquet
    supervision/tcl-genomix \
128
    shell/eltclsh \
129 1 Martin Jacquet
    simulation/mrsim-genom3 \
130 8 Martin Jacquet
    simulation/mrsim-gazebo \
131 1 Martin Jacquet
    simulation/libmrsim \
132
    simulation/optitrack-gazebo
133
134
PREFER.lapack = robotpkg
135
PREFIX.matlab = <path/to/Matlab>
136
</code></pre>
137 10 Martin Jacquet
The last line need to point to the Matlab root folder in the system (e.g. @/opt/Matlab@).
138
It is recommanded to use Matlab for the proposed simulations since the syntax is more intuitive and comprehensible for the user to modify them. However, we also provide all the launch files in tcl, as well as the environment to run them (@shell/eltclsh@ in the above list is a custom tcl script shell).
139
Also, all the above is meant for using Pocolibs, not ROS. Futur version of this tutorial might come to use the ROS install.
140
>
141
Now return to the robotpkg folder and install all the set:
142
<pre><code class="shell">
143
cd ..
144
make update-mpcset
145
</code></pre>
146
>
147
During the installation, some required dependencies need to be install with the usual package manager (e.g. @apt@ on Ubuntu). When the install stops, install the required packages and rerun the above command.
148
>
149
150
h4. 5. Matlab configuration
151
152
The last step is to update Matlab path to use the custom libraries, if relevant.
153
Add the following paths in the Matlab path window:
154
<pre><code class="shell">
155
</path/to/openrobots>/lib/matlab
156
</path/to/openrobots>/lib/matlab/simulink
157
</path/to/openrobots>/lib/matlab/simulink/genomix
158
</code></pre>
159 1 Martin Jacquet
(change </path/to/openrobots> to the content of @$ROBOTPKG_BASE@)
160 11 Martin Jacquet
161
162
h3. II-2. Install custom components
163
164 14 Martin Jacquet
h4. Install the extra components
165
166 11 Martin Jacquet
Now we install the component contained in the @src/@ folder of the repository.
167
Since it they are not considered 'stable' as the one provided in robotpkg, we rather install them in a devel folder.
168
Go to the project root, init the devel folder and go to the sources:
169
<pre><code class="shell">
170
export DEVEL_BASE=`pwd`/devel
171
cd src/
172
</code></pre>
173
>
174
Each component here has to be installed manually, using @autoconf@. To do so, proceed as follow:
175 1 Martin Jacquet
<pre><code class="shell">
176 14 Martin Jacquet
cd src/<component/folder/>
177 11 Martin Jacquet
./bootstrap.sh
178
mkdir build
179
cd build
180
../configure --prefix=$DEVEL_BASE --with-templates=pocolibs/client/c,pocolibs/server
181
make
182
make install
183 1 Martin Jacquet
</code></pre>
184 11 Martin Jacquet
>
185
The component @vision-idl@ has to be installed first since it defines some type headers used by others.
186 14 Martin Jacquet
The installation of the main component, @uavmpc-genom3@, is described in the next subection.
187 11 Martin Jacquet
>
188 1 Martin Jacquet
189 14 Martin Jacquet
h4. Install the MPC controller
190 1 Martin Jacquet
191 14 Martin Jacquet
Before installing the MPC controller, we have to generate the @C@ sources corresponding to the desired model.
192
To do so, go to the @model_generation/@ folder:
193
<pre><code class="shell">
194
cd src/uavmpc-genom3/model_generation
195
</code></pre>
196
>
197
There is a README.md file there, explaining the requirements.
198
In short, the model sources are exported to @C@ using @CasADi@ in @python3@.
199
@python3@ along with @NumPy@, @SciPy@ and @CasADi@  are required, and easily installable on most Linux distributions (e.g. with @apt@ and @pip3@).
200
Then, the sources are generated using:
201
<pre><code class="shell">
202
python3 gen_model.py <quad or hexa>
203
</code></pre>
204
Then install the component as explained before, but add the following flags to the @configure@ command:
205
<pre><code class="shell">
206
../configure --prefix=$GENOM_DEVEL --with-templates=pocolibs/client/c,pocolibs/server CFLAGS='-Wall -O3 -march=native -mfpmath=sse' CXXFLAGS='-std=c++14 -Wall -O3 -march=native -mfpmath=sse' CPPFLAGS='-I$ROBOTPKG_BASE/include' LDFLAGS='-L$ROBOTPKG_BASE/lib -Wl,-R$ROBOTPKG_BASE/lib'
207 12 Martin Jacquet
</code></pre>
208 1 Martin Jacquet
>
209 12 Martin Jacquet
210
211
h3. II-3. Setup the environment
212
213
In order to run all the installed executables, we need to setup the path to the newly created folders.
214 15 Martin Jacquet
All the required variables are exported in the @env.sh@ file.
215 12 Martin Jacquet
216
217
h2. III - Running the simulation
218
219
We @ws/@ folder contains all the material to run a basic simulation with the NMPC.
220
In a terminal, launch the @launch.sh@ script. It starts all the genom components, in background. It is used as a console since it displays warnings or error during runtime.
221 13 Martin Jacquet
In another terminal, start gazebo with one of the world file provided.
222 1 Martin Jacquet
Finally, run @matlab@ or @eltclsh@ and go to the relevant subsection below.
223 13 Martin Jacquet
>
224
225 14 Martin Jacquet
226 1 Martin Jacquet
h3. III.1. Running the simulations with Matlab
227
228 14 Martin Jacquet
The provided scripts are organised as follow
229
* The two @param_*.m@ scripts provide the parameters for either a standard colinear quadrotor (denoted *qr*) and a tilted-propeller hexarotor (denoted *hr*).
230
* The @init.m@ script that connects all the components together and call the initialization services for all provided components.
231
Change the flag at the top of the script to use either the quadrotor or the hexarotor.
232
* The @traj_*.m@ that runs the specific trajectories for a specific scenario.
233
Launch the script then press enter between each step to proceed to the next one. The evolution can be watched in gazebo and in the console terminal in parallel.
234 13 Martin Jacquet
>
235 1 Martin Jacquet
236
237
h3. III.2. Running the simulations with tcl
238 14 Martin Jacquet
239
The tcl scripts are called from the @eltclsh@ shell environment.
240
In order to run the script and keep the variables in the environment, use the @source@ command.
241
The script architecture is the same as the matlab one. Change the flag in the init.tcl script, then:
242
<pre><code class="tcl">
243
source init.tcl
244
source traj_<name_name>.tcl
245
</code></pre>
246
>
247
248
249
h3. III.3. List of the provided trajectories
250
251
* @traj_mpc@ runs a flight using the nmpc without any perceptive constraint, reaching successive waypoints.
252
* @traj_track@ runs a flight using the nmpc with a couple of perceptive constraints, again reaching successive waypoints.
253
It corresponds to the experiment presented in section *V-B* in the paper.
254
* @traj_follow@ runs a flight where we follow a _target_ quadrotor equipped with a marker. The NMPC-controlled UAV needs to stay on top of it, while the _target_ quadrotor is given successive waypoints.
255
It corresponds to the experiment presented in Section *V-C* in the paper.
256
* @traj_3@ runs a flight similar to @traj_follow@ but with 3 perceptive constraints.
257
It is meant to run with an hexarotor and correspond to the simulation presented in section V-D in the paper.