#Drone control with robonomics

#Description

Drone starts moving after transcation and store file with the coordinates in IPFS.
The control script is based on the GAAS demo script

#Requirements

• dependencies for control:

sudo apt install -y \
	ninja-build \
	exiftool \
	python-argparse \
	python-empy \
	python-toml \
	python-numpy \
	python-yaml \
	python-dev \
	python-pip \
	ninja-build \
	protobuf-compiler \
	libeigen3-dev \
	genromfs

pip3 install \
	pandas \
	jinja2 \
	pyserial \
	cerberus \
	pyulog \
	numpy \
	toml \
	pyquaternion

• ROS Melodic + Gazebo installation tutorial
• extra packages:

sudo apt-get install ros-melodic-gazebo-ros-control ros-melodic-effort-controllers ros-melodic-joint-state-controller

• IPFS verson 0.4.22

wget https://dist.ipfs.io/go-ipfs/v0.4.22/go-ipfs_v0.4.22_linux-amd64.tar.gz
tar -xvzf go-ipfs_v0.4.22_linux-amd64.tar.gz
cd go-ipfs
sudo bash install.sh
ipfs init

• ipfshttpclient

pip3 install ipfshttpclient

• Robonomics node (binary file) (download latest release here)

#Environment Setup

sudo apt-get install ros-melodic-mavros ros-melodic-mavros-extras
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo ./install_geographiclib_datasets.sh
cd ~/catkin_ws/src
git clone https://github.com/PX4/Firmware.git
cd Firmware
make posix_sitl_default gazebo

cd ~/catkin_ws/src
git clone https://github.com/generalized-intelligence/GAAS.git
cp -r ~/catkin_ws/src/simulator/models/* ~/catkin_ws/src/Firmware/Tools/sitl_gazebo/models/
cp -r ~/catkin_ws/src/GAAS/simulator/worlds/* ~/catkin_ws/src/Firmware/Tools/sitl_gazebo/worlds/
cp -r ~/catkin_ws/src/GAAS/simulator/posix-config/* ~/catkin_ws/src/Firmware/posix-configs/SITL/init/ekf2/

Modifying your .bashrc file, adding the following lines to the bottom:

source ~/catkin_ws/devel/setup.bash
source ~/catkin_ws/src/Firmware/Tools/setup_gazebo.bash ~/catkin_ws/src/Firmware/ ~/catkin_ws/src/Firmware/build posix_sitl_default
export GAZEBO_MODEL_PATH=:~/catkin_ws/src/simulator/models
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/catkin_ws/src/Firmware
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/catkin_ws/src/Firmware/Tools/sitl_gazebo
export GAZEBO_MODEL_PATH=:~/catkin_ws/src/simulator/models:~/catkin_ws/src/GAAS/simulator/models

#Control Package Installation

cd catkin_ws/src
https://github.com/tubleronchik/robonomics_drone_sim.git
cd ..
catkin build

#Robonomics Network

To create a local robonomics network go to the folder with the robonomic binary file and run:
./robonomics --dev --rpc-cors all

Add robonomic's path to config.py

Go to the Robonomics Portal and switch to local node.

Go to Accounts and create DRONE and EMPLOYER accounts. Save the account names and keys and path to robonomics to ~/catkin_ws/src/drone_sim/src/config.py. Transfer some money into the accounts.

#Running Simulation

Run IPFS daemon

cd go-ipfs
ipfs daemon

In another terminal launch the simulation:

roslaunch px4 mavros_posix_sitl.launch
cd ~/catkin_ws/src/drone_sim/src
python3 takeoff.py

Waiting till "Waiting for payment"

To send a transaction run in another window: echo "ON" | ./robonomics io write launch -r <drone_addres> -s <employer_key> - where <drone_address> and <employer_key> should be replaced with the strings from config.py accordingly.

After data was pushed to IPFS, go to the Chain State in Robonomics Portal. Select datalog in query and add DRONE datalog using + button.

You can find drone's telemetry running https://gateway.ipfs.io/ipfs/<hash> inserting the hash from above.

It's important to remove db derictory before next launches using
rm -rf ~/.local/share/robonomics/chains/dev/db