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PHaas
New Contributor I
1,705 Views

collision avoidance library installation confusion

Since I would like to get collision avoidance on my RTF drone, Method 1 of the build and install step on the collision and avoidance library github page would be the step I would like to take. While trying to follow the instructions, I cant find the meta-coav folder and I cant find the steps to add the yocto layer on the provided link. I would be very grateful for help, I dont have a whole lot of experience.

https://github.com/intel/collision-avoidance-library GitHub - intel/collision-avoidance-library: A framework for testing and benchmarking collision avoidance strategies

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17 Replies
idata
Community Manager
229 Views

Hello Phillip,

 

 

Thank you for your interest in the Intel Aero drone.

 

 

meta-coav was removed due to code rot (it was already rotten).

 

The README.md file has been updated with new instructions for you to be able to build and install coav.

 

You can find the instructions here:

 

https://github.com/intel/collision-avoidance-library/pull/136/commits/b54316794d6f855680fcc895edad5d...

 

 

Make sure to also install librealsense library like it specifies in the guide.

 

 

Hope this helps.

 

 

Regards,

 

Octavian
PHaas
New Contributor I
229 Views

Thank you for your reply. SO I've been using Ubuntu with ROS. On the original readme that I had linked to in my first post, it states that it is recommended to embed the coav-control on a yocto image for use on the intel aero drone. Is this still necessary or would it be able to work fine using the Ubuntu installation instructions?

One more thing, are you aware of anyone who has successfully used multiple external sensors such as lidar-lite or px4flow with the obstacle avoidance library?

idata
Community Manager
229 Views

Hello Phillip,

 

The links in the wiki seems to be broken, Please follow below steps to get collision avoidance library

  1. collision-avoidance-library recipe is available at https://github.com/intel-aero/meta-intel-aero/tree/master/recipes-support/collision-avoidance-librar... https://github.com/intel-aero/meta-intel-aero/tree/master/recipes-support/collision-avoidance-librar...
  2. To add this as part of image, add IMAGE_INSTALL += "coav-control" line in https://github.com/intel-aero/meta-intel-aero/blob/master/recipes-core/images/intel-aero-image.bb https://github.com/intel-aero/meta-intel-aero/blob/master/recipes-core/images/intel-aero-image.bb
If you're using Ubuntu, make sure you also install the following dependencies:

 

https://github.com/intel/collision-avoidance-library/pull/89/commits/62ecbac223460e769ca405e4cfa9e8b...

 

 

Regarding your second question, I haven't tested with px4flow but I found somebody who was able to use Lidar Lite V3: https://github.com/intel-aero/meta-intel-aero/issues/246

 

 

Hope this helps.

 

 

Regards,

 

Octavian

 

 

idata
Community Manager
229 Views

Hello Phillip,

 

 

Do you require any more assistance with this issue?

 

 

Regards,

 

Octavian
PHaas
New Contributor I
229 Views

I'm confused about the installation of the librealsense library. With the initial drone setup it was required to install the RealSense SDK legacy branch. What's the difference between that and what is being done here (https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md)? Also when I follow the steps on that page I can get as far as the Recompile and install librealsense binaries step but I notice that I do not have the directories /usr/local/lib, /usr/local/include, and /usr/local/bin. I've followed the steps all the way through and Im not sure what Im missing.

Also do I have to do the video4Linux backend preparation?

 

If I do, would I have to unplug my r200 when installing it?

For the step:

The project use CMake as build system and does not support in-tree build. As such, create a separate folder before building.

Where would I create the separate folder that it is talking about?

1. Make sure you have initialized and updated all the required submodules at least once with:

git submodule update --init --recursive

what are the submodules it is talking about?

idata
Community Manager
229 Views

Hello Phillip,

 

 

Thank you for your patience.

Follow these instructions to build the librealsense for the R200 camera on Aero, the R200 camera only works with the legacy SDK branch.

https://github.com/intel-aero/meta-intel-aero/wiki/90-(References)-OS-user-Installation# intel-realsense-sdk https://github.com/intel-aero/meta-intel-aero/wiki/90-(References)-OS-user-Installation# intel-realsense-sdk

 

 

You will need to clone the COAV github: https://github.com/intel/collision-avoidance-library.git https://github.com/intel/collision-avoidance-library.git

 

Then initialize and update the submodules and then create the build directory.

 

 

Hope this helps.

 

 

Regards,

 

Octavian
PHaas
New Contributor I
229 Views

Thank you for helping me, I'm still really new to this and I hope my questions aren't getting out of hand. I'm a lot further along than before but still have a few things I need cleared up. I've been trying to both build the image and run install in Ubuntu to see which method works best for me.

1) Would this work on the real RTF drone if I installed it with Ubuntu or does it have to be installed with the modified Yocto image?

2) If I installed the the modified Yocto image, would coav-control remain when I reinstall ubuntu? (I know that the BIOS, FPGA and Flight Controller remain after installing ubuntu) I need to have ubuntu for ROS.

3) In the steps for Building the Image

- When I do the step "Download and add repo to PATH" in https://github.com/intel-aero/meta-intel-aero/wiki/96-(References)-Rebuild-Yocto 96 (References) Rebuild Yocto · intel-aero/meta-intel-aero Wiki · GitHub, I get an error saying "chmod: cannot access 'repo': No such file or directory". '

- I don't know why I do not have a repo directory. Has this step changed any?

4) In the steps for installation with Ubuntu, I got down to the step of "Testing Collision Avoidance Library with coav-control".

- When I try to run ./coav-control --help or ./coav-control -d DI_OBSTACLE -a QC_STOP -s ST_REALSENSE all I get is a message saying "bash: ./coav-control: Is a directory"

- The path that I'm in is ~/collision/collision-avoidance-library/tools

Again, thank you so much for your help.

idata
Community Manager
229 Views

Hello Phillip,

 

 

Thank you for your reply.

 

 

I will post my answers for each question in the same order you have written them.

 

 

1. It should work on Ubuntu as well.

 

If you're using Ubuntu, before continuing please ensure you have the needed dependencies:

 

 

If you want to use Gazebo, ensure you go through the instructions available here: http://gazebosim.org/tutorials?tut=install_ubuntu

 

and ensure you install the libgazebo8-dev package;

 

Install all build dependencies (the last two are needed to build librealsense):

 

sudo apt-get install git cmake libglm-dev python-future doxygen libusb-1.0-0-dev libglfw3-dev

 

 

2. Anything created in the userspace will be deleted after removing Ubuntu, so coav-control will be deleted as well.

 

 

3. Repo should be a file, not a folder and it should be saved in the same folder where you ran the command to download it. In case it doesn't work to download it you can also try the wget command.

 

Also, I have attached the file to this post so you can also download it from here.

 

 

4. I think you need to be inside the coav-control folder and then run the command, so the path should be collision-avoidance-library/tools/coav-control/

 

 

Hope this helps.

 

 

Regards,

 

Octavian

 

 

idata
Community Manager
229 Views

Hello Phillip,

 

 

Do you require any more assistance regarding this issue?

 

 

Regards,

 

Octavian
PHaas
New Contributor I
229 Views

It seems to be working. I wont know 100% for sure until I can stably fly the drone. I dont get any errors when running it at least.

What I did during the cmake step was

mkdir build

 

cd build

 

cmake .. -DWITH_TOOLS=ON -DWITH_GAZEBO=ON -DWITH_VDEBUG=ON -DWITH_SAMPLES=ON

 

sudo make install

 

cd -

 

Then I used the directory:

cd collision-avoidance-library/build/tools/coav-control/

and input

./coav-control -d DI_OBSTACLE -a QC_STOP -s ST_REALSENSE

and I get

Using Detect Algorithm: DI_OBSTACLE

Using Avoidance Algorithm: QC_STOP

Using Sensor: ST_REALSENSE

[mav_vehicle] Our system id: 2

[mav_vehicle] Waiting for vehicle...

[MavQuadCopter] mavlink_vehicle instantiated

idata
Community Manager
229 Views

Hello Phillip,

 

 

I'm glad to hear you're making progress.

 

 

Let me know if you need any more help.

 

 

Regards,

 

Octavian
PHaas
New Contributor I
229 Views

Is there any way I can see any feedback that it's working other than the message

Using Detect Algorithm: DI_OBSTACLE

Using Avoidance Algorithm: QC_STOP

Using Sensor: ST_REALSENSE

[mav_vehicle] Our system id: 2

[mav_vehicle] Waiting for vehicle...

[MavQuadCopter] mavlink_vehicle instantiated

I have not been able to get my drone flying correctly and it would at least be nice to get some kind of data to show that collision avoidance is working if I physically position the drone towards an obstacle

idata
Community Manager
229 Views

Hello Phillip,

One thing you can do to test is use the sample code. You might have to recompile your build directory and add DWITH_SAMPLES=ON, but after that you should have a directory with the samples that can help you test.

 

You can find the code in this directory:

https://github.com/intel/collision-avoidance-library/tree/master/samples https://github.com/intel/collision-avoidance-library/tree/master/samples

 

 

Hope this helps.

 

 

Regards,

 

Octavian
idata
Community Manager
229 Views

Hello Phillip,

 

 

Do you require any more assistance with this issue?

 

 

Regards,

 

Octavian
PHaas
New Contributor I
229 Views

No, thank you for your help

CMajo2
Beginner
229 Views

Hi -- this is about as far as I got with the collision avoidance install ("mavlink_vehicle instantiated"). I've tried flying it and it doesn't appear to be working. How might I test the sample codes, or is there anything else I can troubleshoot to get the avoidance running? Thanks!

nyada1
Beginner
229 Views

Hi

I have used already compiled library for collision avoidance and getting "mavlink_vehicle instantiated". The RealSense camera switched on but I've tried flying it and it doesn't appear to be working. How might I test the sample codes, or is there anything else I can troubleshoot to get the avoidance running? I hereby attach an image after running the command.I have connected the Pixhawk to intel aero board as described in the aero wiki and i am successfully connected to QgroundControl.

Thanks.

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