I am working on an Intel RTF Aero drone. I am testing the Realsense 200 with collision avoidance to determine if it would be a good fit for our products. I have run into a lot of trouble.
I am running Ubuntu on the Intel Aero.
I am able to build the coav-control executable using the instructions on https://github.com/intel/collision-avoidance-library GitHub - intel/collision-avoidance-library: A framework for testing and benchmarking collision avoidance strategies
The problem is when I run coav-control it does nothing.
I ran the following command to start the executable
./coav-control -d DI_OBSTACLE -a QC_STOP -s ST_REALSENSE
I then get the following output:
Using Detect Algorithm: DI_OBSTACLE
Using Avoidance Algorithm: QC_STOP
User Sensor: ST_REALSENSE
[mav_vehicle] Our system id: 2
[mav_vehicle] Waiting for vehicle...
[MavQuadCopter] mavlink_vehicle instantiated
No more output is displayed.
For me to get this much working I had to start the coav-control process on boot by modifying the rc.local script. I then piped the output of that process to a file so I could see what it was doing.
The drone never attempts to avoid obstacles.
What am I doing wrong here? Any suggestions on how I can get this working?
I have also been a little confused by the instructions in the repository starting at "Deploying on Intel Aero"
Those instructions are designed only for those who are using Yocto however all the forums and documentation I have read strongly recommend installing Ubuntu on the drone. In fact most of the setup instructions and commands are Ubuntu-specific. When I first started this project I tried to get Yocto to work with this library but I ran into a lot of headaches because Yocto has a light version of Git and every install command I need must to be modified to work on Yocto.
Any help would be great! We have a lot of custom drones we are developing and it would be awesome if I could show the CEO a drone with a working obstacle avoidance system using Realsense.
Jonathan L Clark
Thank you for your interest in the Intel Aero Ready to Fly drone.
We have received you query and we are currently investigating.
We will reach you back as soon as possible.
Thank you for your patience.
The Collision Avoidance Library was very experimental and has not been updated in over a year, it's possible it may not work. However, we would recommend you looking into the obstacle avoidance that was announced with PX4 v1.8.
Additional details can be found here: https://www.dronecode.org/introducing-px4-v1-8-with-vio-and-obstacle-avoidance/ https://www.dronecode.org/introducing-px4-v1-8-with-vio-and-obstacle-avoidance/
Kindly let me know if I cam assist you with anything else.
Thanks for the assistance with this. It looks like I will need to implement my own obstacle avoidance library or pull a different open source tool.
I do have one other question. Is the Intel Real-Sense r-200 an older model? Is there a different unit you recommend or is that one sufficient?
Thanks for the help.
Jonathan L Clark
The Intel RealSense R200 camera included in the Intel Aero Drone should work accordingly with your project. Also, you can check out the RealSense SDK that works with R200 camera. Link here: https://github.com/IntelRealSense/librealsense/tree/legacy
In case you are interested in purchasing a different camera and attaching it to your Intel Aero RTF drone, I would recommend to check the below link as it contains the specifications required for it to work with the drone. Link here: https://github.com/intel-aero/meta-intel-aero/wiki/06-Cameras-and-Video# third-party-usb-cameras
Please let me know if I can provide you any other information!