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Martin Jacquet, 2020-10-19 14:46

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h1. Perceptive and torque-control NMPC wiki
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h2. I - Software Overview
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h3. I.1. Openrobots
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Collections of all the open-source software used at LAAS. You can find more details in "Openrobots Wiki-Homepage":https://www.openrobots.org/wiki
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h3. I-2. Robotpkg
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"Robotpkg":http://robotpkg.openrobots.org/ is a packaging system for installing robotics software developed by the robotic community.
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We will use robotpkg to install the required modules for the simulations (state estimation, gazebo interface...) as well as third-party dependencies (qpOases).
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h3. I-3. GenoM
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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.
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This allows a great code re-usability and to abstract the user from any specific choice of a middleware.
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Originally GenoM has been developed tightly with Pocolibs, then from version 3, aka GenoM3, ROS templates has been provided.
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Another specificity of GenoM is the interaction with and between components.
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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. 
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h3. I-4. Pocolibs
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"Pocolibs":https://www.openrobots.org/wiki/pocolibs/ is a middleware, like ROS.
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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.
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h3. I-5. TeleKyb
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The "TeleKyb":https://git.openrobots.org/projects/telekyb3 software platform provides the aerial-robotic oriented softwares developped at LAAS-CNRS.
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In particular, we will use:
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* "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.
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* "pom":https://git.openrobots.org/projects/pom-genom3 a UKF-based state estimator merging state feedback for different sources (e.g. mocap + IMU)
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* "optitrack":https://git.openrobots.org/projects/optitrack-genom3 export the motion capture data to the genom software stack
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* "rotorcraft":https://git.openrobots.org/projects/rotorcraft-genom3 low-level interface, with either the simulated or real platform
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* "nhfc":https://git.openrobots.org/projects/nhfc-genom3 near-hovering flight controller, used for unmodeled take-off and post-failure recovery
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* "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.
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h3. I-6. Gazebo
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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:
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* "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)
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* "optitrack-gazebo":https://git.openrobots.org/projects/optitrack-gazebo emulates the optitrack network interface to publish the model poses
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h2. II - Installation procedure