Configure ROSLink with Dronemap Planner¶

ROSLink Bridge¶

The ROSLink Bridge consists of fully-functional ROS script written in Python, which is executed as ROS node in the client. For more details about ROSLink Bridge see ROSLink Bridge for Gapter.

ROSLink Configuration¶

The first step is to configure ROSLink parameters and the periods of updating the ROSLink messages:

open the file roslink/launch/gapter_roslink.launch

<launch>
 <node pkg="roslink" name="udp_client_gapter_node" type="roslink_bridge_gapter.py" output="screen"/>

 <param name="ground_station_ip" value='192.168.100.6' />
 <param name="ground_station_port" value='25500' />

 <param name="heartbeat_msg_period" value="1" />
 <param name="robot_status_msg_period" value="0.5" />
 <param name="global_motion_msg_period" value="0.5" />
 <param name="gps_raw_info_msg_period" value="0.5" />
 <param name="range_finder_data_msg_period" value="0.5" />

 <param name="roslink_version" value="1" />
 <param name="ros_version" value="8" />
 <param name="system_id" value='12' />
 <param name="robot_name" value="Gapter Drone" />
 <param name="type" value="0" />
 <param name="owner_id" value="3" />
 <param name="key" value="1243-0000-0000-FGFG" />
</launch>

The user can set these values as appropriate for the application.

ground_station_ip to identify the IP address of your server machine, replace it with the correct IP addrees of the Dronemap Planner. Refer to this page to know how to configure Dronemap Planner .

ground_station_port to identify the port number. 25500 is the port of the Datagram Socket Server on Dronemap Planner

heartbeat_msg_period specify the period for heartbeat message.

robot_status_msg_period specify the period for the robot status message.

global_motion_msg_period specify the period for the global motion message.

gps_raw_info_msg_period specify the period for the GPS indo message.

range_finder_data_msg_period specify the period for the range finder message.

system_id to specify specifies the ID of the robot. It helps in differentiating robots from each other at the server side.

key field is used to identify a robot, and to map it to a user. A user that would like to have access to a robot, must use the same key that the robot is using in its Heartbeat message.

Run Dronemap planner cloud¶

Follow the tutorial in this page to run Dronemap planner cloud

Run ROSLink¶

After setting all the parameter, now you can launch Gapter simulator as explained in: GAPTER: Set-up GapterSim Environment by first run the following commands:

$ cd ~/gapter_ardupilot/ArduCopter

$ ../Tools/autotest/sim_vehicle.sh -j 4 -f Gazebo

Then in another terminal lauch following:

$ roslaunch ardupilot_sitl_gazebo_plugin gapter_spawn.launch

Gazebo window will opened now and you should see Gapter model.

Now launch you roslink bridge

$ roslaunch roslink gapter_roslink.launch

You will see something like the following in the terminal:

Start Webapp¶

1- Run your web servers app (xampp or wamp)

2- open your brower and enter the link of the dronmemap planner main website.

To be able to control Gapter, click on button.