💾 viper

Generic ROS based drone flight stack for the Pika Spark.

Build Instructions

Note: Don't forget to install the dependencies (see at the end of this file).
Removed these dependencies for now...

• See the detailed build instructions.

Running It

cd colcon_ws
. install/setup.bash
ros2 launch viper [launch-file.py]

Launch file overview

• viper-quad.py - run the flight controller node directly on the Pika Spark hardware.
• viper-sim.py - run Gazebo simulation locally with the viper node, joy, teleop_twist_joy, and ros_gz_bridge. More details on Gazebo implementation here.
• viper-cosim.py - co-simulation setup that runs the joystick/Gazebo side locally while the flight controller remains on the Pika Spark.

Selecting a CAN Interface

A CAN interface must be set up by running the relevant script before the flight controller node is run. There are 2 options:

• vcan: Setup by running setup_vcan.sh in scripts directory

• can: This can be the physical interface on Pika Spark (setup_can.sh) or slcan (source setup_yakut_slcan.sh) on host PC. Scripts register under can for simplicity. For more details on which script to run, see here.

  If you use the Zubax Babel as a USB-CAN device you need to run . setup_yakut_slcan.sh first.

Interface Documentation

Published Topics

Default name	Type	Description
/viper/motor_speed	actuator_msgs/Actuators	Motor command output published for Gazebo/ros_gz_bridge. Same as what is being sent over Cyphal

Subscribed Topics

Topic name	Type	Description
/viper/cmd_vel	geometry_msgs/Twist	Teleop command input topic.
/viper/joy	sensor_msgs/Joy	Reads raw joystick input used to arm/disarm and read controller axes/buttons.
/imu	sensor_msgs/Imu	IMU measurements consumed by the estimator. External BNO085 ROS 2 node.
/parameter_events	rcl_interfaces/ParameterEvent	Parameter change notifications for dynamic reconfiguration.

Parameters

Name	Default	Description
can_iface	can0	CAN interface device used by the flight controller.
can_node_id	100	CAN node ID for the Pika Spark on the CAN bus.
enable_button	0	Index of the joystick button used to arm/disarm the motors.
teleop_topic	cmd_vel	Topic name used for teleoperation Twist commands.
teleop_topic_deadline_ms	100	Deadline in milliseconds within which a teleop message is expected.
teleop_topic_liveliness_lease_duration	1000	Liveliness lease duration for teleop command publishing.
imu_topic	imu	Topic name used for IMU messages consumed by the estimator.
imu_topic_deadline_ms	100	Deadline in milliseconds within which an IMU message is expected.
imu_topic_liveliness_lease_duration	1000	Liveliness lease duration for IMU message publishing.
attitude_roll_p	6.0	Attitude controller roll proportional gain.
attitude_roll_i	0.01	Attitude controller roll integral gain.
attitude_roll_d	0.001	Attitude controller roll derivative gain.
attitude_pitch_p	6.0	Attitude controller pitch proportional gain.
attitude_pitch_i	0.01	Attitude controller pitch integral gain.
attitude_pitch_d	0.001	Attitude controller pitch derivative gain.
attitude_yaw_p	0.5	Attitude controller yaw proportional gain.
attitude_yaw_i	0.05	Attitude controller yaw integral gain.
attitude_yaw_d	0.001	Attitude controller yaw derivative gain.
acro_mode	false	Enable acro-style rate control instead of attitude stabilization.
rate_roll_p	0.05	Rate controller roll proportional gain.
rate_roll_i	0.2	Rate controller roll integral gain.
rate_roll_d	0.001	Rate controller roll derivative gain.
rate_pitch_p	0.35	Rate controller pitch proportional gain.
rate_pitch_i	0.4	Rate controller pitch integral gain.
rate_pitch_d	0.005	Rate controller pitch derivative gain.
rate_yaw_p	0.5	Rate controller yaw proportional gain.
rate_yaw_i	0.05	Rate controller yaw integral gain.
rate_yaw_d	0.001	Rate controller yaw derivative gain.
rate_integral_windup	0.3	Integral windup limit for rate controllers.
rate_derivative_filter_alpha	0.2	Derivative filter alpha used by the rate controllers.
max_tilt_angle	0.261799	Maximum tilt angle in radians (default 15°).

Install dependencies

Only needed if want to re-add mp-units dependency. It's removed for now.

• Install gsl-lite

git clone https://github.com/gsl-lite/gsl-lite && cd gsl-lite
mkdir build && cd build
cmake .. && make -j8
sudo make install

• Install Catch2

git clone https://github.com/catchorg/Catch2 && cd Catch2
mkdir build && cd build
cmake .. && make -j8
sudo make install

• Install fmt

git clone https://github.com/fmtlib/fmt && cd fmt
mkdir build && cd build
cmake -DFMT_TEST=OFF ..
make -j8
sudo make install