107-systems / viper

This repository contains a ROS based drone flight stack for the Pika Spark.

💾 viper

Generic ROS based drone flight stack for the Pika Spark.

How-to-build

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

cd $COLCON_WS/src
git clone --recursive https://github.com/107-systems/viper
cd $COLCON_WS
source /opt/ros/humble/setup.bash
colcon build --packages-select viper

How-to-run

cd $COLCON_WS
. install/setup.bash
ros2 launch viper viper-quad.py

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

How-to-run (simulation)

• Setup yakut:

cd $COLCON_WS/src
. setup_yakut_vcan.sh
yakut monitor

• Edit viper-quad.py:

-{'can_iface' : 'can0'},
+{'can_iface' : 'vcan0'},

• Run via ros2 launch:

cd $COLCON_WS
. install/setup.bash
ros2 launch viper viper-quad.py

Interface Documentation

Published Topics

Default name	Type

Subscribed Topics

Default name	Type	Description
/cmd_vel	geometry_msgs/Twist	Linear/angular drone target velocity setpoints

Parameters

Name	Default	Description
teleop_topic	teleop	Name of topic from where we are subscribing teleop messages.
teleop_topic_deadline_ms	100	Deadline in milliseconds within which a new teleop message is expected.
teleop_topic_liveliness_lease_duration	1000	The time within which the RMW node or publisher must show that it is alive.

Install dependencies

• 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