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installation.md 4.77 KiB

Installation

For Student and Teacher

Install Script

Installation with the install script is the easiest. You will need:

  • the install script
  • the d_fall_pps package compressed in a file called package.tar.gz
  • the rule files for the USB connection to the crazyradio, called 99-crazyflie.rules and 99-crazyradio.rules

These files all need to be in the same directory. To run the installation, move to the containing directory (pps\ install) and call it with

./pps_install.sh <student id>

The student id needs to be a unique number that is used as identication for the student laptops connected to the teacher. Make sure not that the script file is marked executable and to not run the script as root, as it will ask for the password and only execute some commands with root privilege.

Manual Installation

The installation process consists of the following steps:

  • Installation of ROS:
    The detailed instructions for the installation of ROS can be found here.

  • Workspace:
    Create a new catkin workspace and copy the d_fall_pps package into the src folder of the workspace. Then build the package with catkin_make called from the workspace root.

  • Environment Setup:
    Add a new line in the /etc/hosts file that links the teacher's IP with the domain name teacher and create a file called /etc/StudentID that contains the student id. Only write digits without any other symbols or whitespace characters.

  • USB Crazyradio:
    To set up the crazyradio USB dongle just copy the rule files 99-crazyflie.rules and 99-crazyradio.rules from directory pps\ install/ to the directory /etc/udev/rules.d. You also have to install the library pyusb:

sudo apt-get update
sudo apt-get install python-pip
sudo pip install pyusb
  • Source scripts in .bashrc:
    Add following lines to the bottom of the file ~/.bashrc (replace <catkin workspace> with correct directory)
source /opt/ros/kinetic/setup.bash
source <catkin workspace>/devel/setup.bash
source <catkin workspace>/src/d_fall_pps/launch/Config.sh

The workspace setup script will only appear after the first compilation of the catkin workspace.

If you are not sure at any point you can check out the install script.

Additional Steps for Teacher

Removing Config.sh and replacing

As the teacher must not source the script Config.sh, the .bashrc must be edited and the last line

source ~/pps_ws/src/d_fall_pps/launch/Config.sh

must be replaced with

export ROS_HOSTNAME=teacher

IP-Addresses

Currently the teacher's IP is 10.42.0.10 and the student's IP are of the format 10.42.0.xx, where xx is an unused address.

Installation of cfclient

The steps to install the crazyflie client are taken from here. To install the cfclient you need to install its dependencies:

sudo apt-get install python3 python3-pip python3-pyqt5

clone the git repository, change the directory to the root directory of the repository and execute

pip3 install -e .

Steps for adding a Crazyflie to the system

When we build a new crazyflie, it must be added to the system. The steps for doing so are these:

  1. Find out the radio address of the crazyflie that you want to fly (radio://0/79/2M, for example). You can change this address using the cfclient (Connect->Configure 2.0, write parameters and then reset the CF for changes to take effect)

  2. After having put some reflective markers in the crazyflie, register it in the Vicon system with the name that you want. (in the PPS case, we call them PPS_CFXX)

  3. Go to the file channelLUT.cpp (path: pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/channelLUT.cpp) and add an entry with the name of the crazyflie and the radio address. Follow the formatting that the other entries have.



  4. Go to pps_ws folder, and in a terminal write catkin_make

  5. Run the teacher's GUI, and if you registered correctly your crazyflie with the proper name in Vicon (and enabled it by ticking it in Vicon PC), in the crazyflies dropdown box, after pressing "refresh crazyflies" button you should be able to see the name you assigned.

  6. When you select it, you should see in the field "Radio address" in the radio address that you assigned to that name in channelLUT.cpp

  7. Link it to a CFZone previously created and to the student ID of your computer and, once everything is in the linked table, click Save in DB

  8. Open the student's GUI in student computer, and you should be able to connect to your crazyflie, if every step above was done successfully.