Fly Commands to PlutoX from an external webserver and Camera stream to server

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    • November 8, 2019 at 5:51 am #4286
      VedanshiShah
      Participant

        Hi Somnath,

        PlutoX use MSP protocol for data communication (http://www.stefanocottafavi.com/msp-the-multiwii-serial-protocol/)

        To have communication with PlutoX you need to create tcp socket on
        1: For non camera WiFi- IP: 192.168.4.1 Port:23
        2: For camera WiFi- IP: 192.168.0.1 Port: 9060

        We have ROS module and windows visual studio project to showcase example of camera streaming. On Raspberry pi you can use linux library and api which we will provide you via email.

        Share your email id on this thread.

      • November 8, 2019 at 8:34 am #4287
        somnathkhamaru8
        Participant

          Thanks for your prompt reply
          My email id is somnathkhamaru8@gmail.com
          Please send the sample codes and library in this email.

        • November 13, 2019 at 3:58 am #4289
          somnathkhamaru8
          Participant

            Thanks @VedanshiShah for the linux and window libs .
            Can you please provide me some sample ROS command input output for accessing the Camera feed. Also please let know the steps install and use the Ros package provided by you.
            Is this package similar to https://github.com/simmubhangu/eyantra_drone

          • November 13, 2019 at 1:28 pm #4290
            VedanshiShah
            Participant

              Hi Somnath,

              No that is for communication with drone, you can refer to this roswiki http://wiki.ros.org/pluto_drone
              For camera package we haven’t yet created ros wiki. To install that package goto pluto_ros_package/install_required_llib.sh run this script. To access camera feed, start roscore . New console window start rosrun pluto_camera_sense plutocamera – this will start to get the frame from camera. Now to view the frames start rosrun pluto_image_sub imagenode – this will open the window which will stream camera feed.

            • November 19, 2019 at 6:02 am #4295
              somnathkhamaru8
              Participant

                HI Team and @vedanshishah,

                Thanks for your help, I was able to stream the live videos from Pluto X using your code in a linux( ubuntu 16.04 Xenial) VM ( hosted on windows PC).

                But I failed to use the streaming code on Raspberry PI (with ubuntu 16.04 Xenial).
                The Library for Le WeI 720p camera provided by you is complied for Amd64 and x86-64 architecture ,hence it fails arm devices like Raspberry PI.

                Error :
                /home/ubuntu/catkin_ws/src/eyantra_drone/edrone_client/lib/libLeweiLib.so: file not recognized: File format not recognized

                libLeweiLib.so is compliled for X86-64
                ubuntu@ubiquityrobot:~/catkin_ws/src/eyantra_drone/edrone_client/lib$ file libLeweiLib.so

                libLeweiLib.so: ELF 64-bit LSB shared object, x86-64, version 1 (SYSV), dynamically linked, BuildID[sha1]=c1bbbf5792946bbcea2bccc819e4b07b00a167d9, not stripped

                Raspberri PI Architecture
                ubuntu@ubiquityrobot:~/catkin_ws/src/eyantra_drone/edrone_client/lib$ dpkg –print-architecture

                armhf

                So please provide a Le WeI 720p camera Library for Arm architecture or you can provide me the source code ,I will cross compile it for Arm.

              • November 21, 2019 at 11:16 am #4303
                VedanshiShah
                Participant

                  Hi Somanth,

                  We will send you library for arm architecture once we will build it. Please wait for some days. Thanks!!

                • November 27, 2019 at 7:27 am #4312
                  somnathkhamaru8
                  Participant

                    HI Team,

                    I tried to give a series of commands via ROS publisher to Pluto X , for moving it in a particular pattern ( take off , stay still, move forward 3 feet, move left 2 feet , yaw left (180 deg) , move forward 3 feet, stay still for 20 sec, land).
                    But I found it quite difficult to control the drone via ros pub.
                    The drone drift continuously.
                    I have few doubt the ROS controller
                    1. Does setting these values properly ensures reduce in drift
                    self.cmd.trim_roll = 0
                    self.cmd.trim_pitch = 0
                    2. If if keep self.cmd.isAutoPilotOn = 1 thought the flight how does it make difference
                    3. In the keyboard controller I see the following method is called repeatedly.
                    def reset(self):
                    self.cmd.rcRoll =1500
                    self.cmd.rcThrottle =1500
                    self.cmd.rcPitch =1500
                    self.cmd.rcYaw = 1500
                    self.cmd.commandType = 0
                    self.command_pub.publish(self.cmd)
                    Does this method really make pluto to remain still in air
                    4. Can you provide me the set of ROS commands to achive the flight pattern mentioned above in bold

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