Tom van Dijk
c870e27ac5
* First steps towards detailed cyberzoo model. Got transparency working. * Fix ambient lighting of cyberzoo_solid * Import improved model * Fix optitrack cameras * Fix lighting colors * Fix optitrack camera color * Add orange pole and traffic mat objects * Fix orange_pole2 smoothing errors * Fix cyberzoo origin * Add first draft of cyberzoo surroundings * Add updated cyberzoo surroundings and outside walls * Minor fixes to surroundings * Create cyberzoo world To-do: set origin coordinates and rotate environment * Set world coordinates and rotation, fix naming conflict * Add cyberzoo world with orange poles for orange_avoider * Remove old cyberzoo model, fix dependencies * Add daylight in windows on outer walls * Separate cyberzoo model into layers Makes it easier to hide parts of the model in the GUI. * Add cyberzoo surroundings to main model in separate layers * Restore cyberzoo floor collision box * Add cyberzoo props * Minor tweaks to models * Compress textures Reduced texture dimensions. Size of model folder is now approx. 20 MB instead of 60+ MB. * Remove origin marker from worlds * Move CyberZoo models to submodule - All new models are moved to the tudelft/gazebo_models repository, which is included as a submodule in sw/ext/tudelft_gazebo_models/ - Changed vehicle and world SDF loading to use URI's, these can be used with multiple search paths - Added gzclient_launcher.sh script that sets up environment variables before launching gzclient. This prevents errors if the user forgets to add the paths to .bashrc. Added as a tool to control_panel_example.xml
MAIN README
Paparazzi UAS
Paparazzi is a free open source software package for Unmanned (Air) Vehicle Systems. For many years, the system has been used successfuly by hobbyists, universities and companies all over the world, on vehicles of various sizes (11.9g to 25kg). Paparazzi supports fixed wing, rotorcraft, hybrids, flapping vehicles and it is even possible to use it for boats and surface vehicles.
Up to date information is available on the wiki http://wiki.paparazziuav.org
To get in touch, subscribe to the mailing list [paparazzi-devel@nongnu.org] (http://savannah.nongnu.org/mail/?group=paparazzi), the IRC channel (freenode, #paparazzi) and Gitter (https://gitter.im/paparazzi/discuss).
Required software
Instructions for installation can be found on the wiki (http://wiki.paparazziuav.org/wiki/Installation).
For Ubuntu users, required packages are available in the [paparazzi-uav PPA] (https://launchpad.net/~paparazzi-uav/+archive/ppa), Debian users can use the [OpenSUSE Build Service repository] (http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_7.0/)
Debian/Ubuntu packages:
- paparazzi-dev is the meta-package on which the Paparazzi software depends to compile and run the ground segment and simulator.
- paparazzi-jsbsim is needed for using JSBSim as flight dynamics model for the simulator.
Recommended cross compiling toolchain: https://launchpad.net/gcc-arm-embedded
Directories quick and dirty description:
conf: the configuration directory (airframe, radio, ... descriptions).
data: where to put read-only data (e.g. maps, terrain elevation files, icons)
doc: documentation (diagrams, manual source files, ...)
sw: software (onboard, ground station, simulation, ...)
var: products of compilation, cache for the map tiles, ...
Compilation and demo simulation
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type "make" in the top directory to compile all the libraries and tools.
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"./paparazzi" to run the Paparazzi Center
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Select the "Microjet" aircraft in the upper-left A/C combo box. Select "sim" from upper-middle "target" combo box. Click "Build". When the compilation is finished, select "Simulation" from the upper-right session combo box and click "Execute".
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In the GCS, wait about 10s for the aircraft to be in the "Holding point" navigation block. Switch to the "Takeoff" block (lower-left blue airway button in the strip). Takeoff with the green launch button.
Uploading the embedded software
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Power the flight controller board while it is connected to the PC with the USB cable.
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From the Paparazzi center, select the "ap" target, and click "Upload".
Flight
- From the Paparazzi Center, select the flight session and ... do the same as in simulation !