Perceptive and torque-control NMPC wiki¶

I - Software Overview¶

I.1. Openrobots¶

Collections of all the open-source software used at LAAS. You can find more details in Openrobots Wiki-Homepage

I-2. Robotpkg¶

Robotpkg is a packaging system for installing robotics software developed by the robotic community.
We will use robotpkg to install the required modules for the simulations (state estimation, gazebo interface...) as well as third-party dependencies (qpOases).

I-3. GenoM¶

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.
This allows a great code re-usability and to abstract the user from any specific choice of a middleware.
Originally GenoM has been developed tightly with Pocolibs, then from version 3, aka GenoM3, other middleware templates has been provided, like ROS.

Another specificity of GenoM is the interaction with and between components.
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, either with it Matlab or TCL.

I-4. Pocolibs¶

Pocolibs is a middleware, like ROS.
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 one node and another one, this leads to greater delays and loss of performances.

I-5. TeleKyb¶

The TeleKyb software platform provides the aerial-robotic oriented softwares developped at LAAS-CNRS.
In particular, we will use:

• mrsim 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.
• pom a UKF-based state estimator merging state feedback for different sources (e.g. mocap + IMU)
• optitrack export the motion capture data to the genom software stack
• rotorcraft low-level interface, with either the simulated or real platform
• nhfc near-hovering flight controller, used for unmodeled take-off and post-failure recovery
• maneuver 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.

I-6. Gazebo¶

To simulate the platform, we use the Gazebo simulator. To interface it with the genom software stack, we use two dedicated components:

• mrsim-gazebo a plugin to interface the simulated multi-rotor with the genom components (in place of mrsim)
• optitrack-gazebo emulates the optitrack network interface to publish the model poses

II - Installation procedure¶