FlyingROS

Around the Internet of robotics, there is a lot of open-source/open-hardware projects to make an awesome flying robot : ROS, MAVLink, PX4, Mavros, Odroid XU4. Multiple companies uses thoses projects to make money without contributing to the community. That's why FlyingROS comes to life. To bring user an easy way to fly multicopters with all tools incorporated together.

Flying Robot Operating System is designed to be the main OPEN-SOURCE package for your multicopter consumer application or closed-source commercial application.

The way the packages are organized are available in the Project architecture file.

Installation

See INSTALL

Actual status

Experimental, do not use unless you want to develop with us (Thanks :D)

Hardware

• PixHawk (200$)
• Odroid XU4 (79$ naked)
• WiFi antenna (connect to external hotspot) or Modem (create an AP)
• The localisation system you want (see the flyingros_pose package)

Software

• ROS
• PX4
• MAVLink
• Mavros

Goals

Actual goals:

• Indoor Navigation (Pozyx -Decawave-, Camera, Lasers)
• Outdoor Navigation (Camera, RTK-GPS)
• Payloads

Future goals:

• Object tracking
• SLAM
• Simulation

In depth status

• flyingros_msgs
  • messages
    • Battery (battery status)
    • Distance (array of laser measures with the status could change on demand)
    • Mission (Task array)
    • RPY (Roll Pitch Yaw)
    • RPYPose (Roll Pitch Yaw + X Y Z)
    • Report (The whole UAV status)
    • Task (A task the UAV has to do)
  • services
    • MissionHandle (send a mission & receive string)
    • MissionRequest (send string & receive mission)
    • TaskHandle (send task & receive string)
    • TaskRequest (send string & receive task)
• flyingros_libs
  • lasers : Replaced by flyingros_pose/cfg/laser/2lasers.yaml & 6lasers.yaml
  • taskController
  • UAV : Test the raw_setpoint to takeoff from offboard
  • task : easy to add new tasks
    • ARM : to be reviewed, change timeout method
    • DISARM : to be reviewed, change timeout method
    • INIT_UAV : to be reviewed, change timeout method
    • LOITER
    • TAKEOFF : TO BE TESTED
    • LAND : TO BE TESTED
    • TARGET
    • GRAB : TO BE IMPLEMENTED
• flyingros_nav
  • Task_node : Start & manage the task controller missing get & send current task
  • Nav_application : Using task_node, it adds the ability to stop the task spinning and take back manual control over the multicopter Work in progress
  • Manual_node : bypass the controller individual tasks working well
• flyingros_pose : To be reviewed & tested
  • laser_altitude To be tested
  • rtk To be tested
  • six_lasers To be tested
• flyingros_web : To be reviewed & tested
  • web_export
  • website
• AlexisTM/ethzasl_msf
  • dual_position (rtk + lasers(position))
  • pose_position_pressure (camera + rtk + lasers(altitude))
  • position_pressure (rtk + lasers(altitude))

Do not forget tasks

• Verify convention on Laser algorithms