Thank you for your interest in the Intel Aero drone.
meta-coav was removed due to code rot (it was already rotten).
The README.md file has been updated with new instructions for you to be able to build and install coav.
You can find the instructions here:
Make sure to also install librealsense library like it specifies in the guide.
Hope this helps.
Thank you for your reply. SO I've been using Ubuntu with ROS. On the original readme that I had linked to in my first post, it states that it is recommended to embed the coav-control on a yocto image for use on the intel aero drone. Is this still necessary or would it be able to work fine using the Ubuntu installation instructions?
One more thing, are you aware of anyone who has successfully used multiple external sensors such as lidar-lite or px4flow with the obstacle avoidance library?
The links in the wiki seems to be broken, Please follow below steps to get collision avoidance library
collision-avoidance-libraryrecipe is available at https://github.com/intel-aero/meta-intel-aero/tree/master/recipes-support/collision-avoidance-library
- To add this as part of image, add
IMAGE_INSTALL += "coav-control"line in https://github.com/intel-aero/meta-intel-aero/blob/master/recipes-core/images/intel-aero-image.bb
Regarding your second question, I haven't tested with px4flow but I found somebody who was able to use Lidar Lite V3: https://github.com/intel-aero/meta-intel-aero/issues/246
Hope this helps.
I'm confused about the installation of the librealsense library. With the initial drone setup it was required to install the RealSense SDK legacy branch. What's the difference between that and what is being done here (https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md)? Also when I follow the steps on that page I can get as far as the Recompile and install librealsense binaries step but I notice that I do not have the directories
/usr/local/bin. I've followed the steps all the way through and Im not sure what Im missing.
Also do I have to do the video4Linux backend preparation?
If I do, would I have to unplug my r200 when installing it?
For the step:
The project use CMake as build system and does not support in-tree build. As such, create a separate folder before building.
Where would I create the separate folder that it is talking about?
1. Make sure you have initialized and updated all the required submodules at least once with:
git submodule update --init --recursive
what are the submodules it is talking about?
Thank you for your patience.
Follow these instructions to build the librealsense for the R200 camera on Aero, the R200 camera only works with the legacy SDK branch.
You will need to clone the COAV github: https://github.com/intel/collision-avoidance-library.git
Then initialize and update the submodules and then create the build directory.
Hope this helps.
Thank you for helping me, I'm still really new to this and I hope my questions aren't getting out of hand. I'm a lot further along than before but still have a few things I need cleared up. I've been trying to both build the image and run install in Ubuntu to see which method works best for me.
1) Would this work on the real RTF drone if I installed it with Ubuntu or does it have to be installed with the modified Yocto image?
2) If I installed the the modified Yocto image, would coav-control remain when I reinstall ubuntu? (I know that the BIOS, FPGA and Flight Controller remain after installing ubuntu) I need to have ubuntu for ROS.
3) In the steps for Building the Image
- When I do the step "Download and add repo to PATH" in 96 (References) Rebuild Yocto · intel-aero/meta-intel-aero Wiki · GitHub, I get an error saying "chmod: cannot access 'repo': No such file or directory". '
- I don't know why I do not have a repo directory. Has this step changed any?
4) In the steps for installation with Ubuntu, I got down to the step of "Testing Collision Avoidance Library with coav-control".
- When I try to run
./coav-control --help orll I get is a message saying "bash: ./coav-control: Is a directory"
./coav-control -d DI_OBSTACLE -a QC_STOP -s ST_REALSENSE a
- The path that I'm in is ~/collision/collision-avoidance-library/tools
Again, thank you so much for your help.
Thank you for your reply.
I will post my answers for each question in the same order you have written them.
1. It should work on Ubuntu as well.
If you're using Ubuntu, before continuing please ensure you have the needed dependencies:
If you want to use Gazebo, ensure you go through the instructions available here: http://gazebosim.org/tutorials?tut=install_ubuntu
and ensure you install the libgazebo8-dev package;
Install all build dependencies (the last two are needed to build librealsense):
sudo apt-get install git cmake libglm-dev python-future doxygen libusb-1.0-0-dev libglfw3-dev
2. Anything created in the userspace will be deleted after removing Ubuntu, so coav-control will be deleted as well.
3. Repo should be a file, not a folder and it should be saved in the same folder where you ran the command to download it. In case it doesn't work to download it you can also try the wget command.
Also, I have attached the file to this post so you can also download it from here.
4. I think you need to be inside the coav-control folder and then run the command, so the path should be collision-avoidance-library/tools/coav-control/
Hope this helps.
repo.zip 10.2 K
It seems to be working. I wont know 100% for sure until I can stably fly the drone. I dont get any errors when running it at least.
What I did during the cmake step was
-DWITH_TOOLS=ON -DWITH_GAZEBO=ON -DWITH_VDEBUG=ON -DWITH_SAMPLES=ON
sudo make install
Then I used the directory:
./coav-control -d DI_OBSTACLE -a QC_STOP -s ST_REALSENSE
and I get
Using Detect Algorithm: DI_OBSTACLE
Using Avoidance Algorithm: QC_STOP
Using Sensor: ST_REALSENSE
[mav_vehicle] Our system id: 2
[mav_vehicle] Waiting for vehicle...
[MavQuadCopter] mavlink_vehicle instantiated