svan_simple_control

setup (simulation)

# cd into workspace
cd ~/xMo/src

# clone package
git clone https://github.com/kry0sc0pic/svan_simple_control.git
# add to build script
cd ~/xMo
echo "catkin build svan_simple_control" >> svan_build.sh
echo "source devel/setup.bash" >> svan_build.sh

# build package
catkin build svan_simple_control
source devel/setup.bash

setup (hardware)

# cd into workspace
cd ~/dev/xMo/src

# clone packages
git clone https://github.com/kry0sc0pic/svan_simple_control.git

# add to build script
cd ~/dev/xMo
echo "catkin build svan_simple_control" >> svan_build.sh
echo "source devel/setup.bash" >> svan_build.sh

# build packages
catkin build svan_simple_control
source devel/setup.bash

# (optional) install dependencies for http bridge
python3 -m pip install --upgrade pip
python3 -m pip install fastapi uvicorn pydantic

running (simulation)

after starting the gazebo simulation launch file and the mcp.py file. run the following in a third terminal

cd ~/xMo
source devel/setup.bash
rosrun svan_simple_control simulation.py

now open 4th terminal are run your script. replace <script> with the filename of the example you want to run.

cd ~/xMo
source devel/setup.bash
python3 src/svan_simple_control/examples/<script>.py

---

🔴 Important Note

Always be ready to take manual control of the SVAN using the joystick incase something unexpected starts happening.

After the node starts, if some joystick data is published. It will cease sending commands until the node is restarted.

The simple control node differentiates between itself and the joystick command code by publishing a value of 1000.0 at index 7. If the value is not 1000.0 (in case of the joystick command node) it ceases sending any recieved commands.

Make this change to the source on your joystick commander node to prevent operating mode desync. --- [CHANGE HERE]

running (hardware) (without bridge)

if you are having issues subscribing and publishing to SVAN ros topics from a desktop/laptop. Have a look at the HTTP bridge below.

after completing all the startup steps (joystick calibration, sleep calibration, moetus interface launch and starting the mcp.py). run the following commands in two ssh sessions on the SVAN.

in the first ssh session

cd ~/dev/xMo
source devel/setup.bash
rosrun svan_simple_control hardware.py

in the second ssh session

cd ~/dev/xMo
source devel/setup.bash
python3 src/svan_simple_control/examples/<script>.py

running (hardware) (with bridge)

after completing all the startup steps (joystick calibration, sleep calibration, moetus interface launch and starting the mcp.py). run the following commands in two ssh sessions on the SVAN.

in the first ssh session

cd ~/dev/xMo
source devel/setup.bash
rosrun svan_simple_control hardware.py

in the second ssh session

cd ~/dev/xMo
source devel/setup.bash
rosrun svan_simple_control bridge.py

bridge

The HTTP bridge allows sending commands to the SVAN using POST requests to remove the ros dependency for the client machine or work around ROS connection issues.

The documentation can be accessed by running the bridge with rosrun svan_simple_control bridge.py and navigating to /docs in a web browser. The parameter names correspond to the ROS Message Definition below.

message definitions

these are the following variables you can give as part of the SvanCommand message. You can view the source here

0. command_type (uint8) - what aspect you want to control

   value	aspect
   0	OPERATION MODE (trot, push, up, etc.)
   1	LINEAR MOVEMENT
   2	ROLL ANGLE
   3	PITCH ANGLE
   4	YAW VELOCITY
   5	HEIGHT

1. operation_mode (uint8) - operation mode to switch to. used when command_type is 0.

   value	mode
   1	STOP
   2	TWIRL
   3	PUSHUP
   4	TROT
   5	SLEEP

2. height (uint8) - height profile to set. used when command_type is 5.

   value	height
   1	UP (MAX)
   2	DOWN (MIN)

   granular height control is being actively developled

3. vel_x (float32) (-1.0 - 1.0) - normalised value of velocity in x-axis. postive x-axis is the right of the robot.

4. vel_y (float32) (-1.0 - 1.0) - normalised value of velcity in y-axis. positive y-axis is the front of the robot.

5. roll (float32) - normalised roll angle. used when command_type is 2.

   value	roll angle
   -1	LEFT
   0	CENTER
   1	RIGHT

6. pitch (float32) - normalised pitch angle. used when command_type is 3.

   value	roll angle
   1	FRONT
   0	CENTER
   -1	BACK

7. yaw (uint8) - yaw direction. used when command_type is 4.

   value	direction
   0	LEFT
   1	RIGHT
   2	NONE

examples

bridge versions of certain examples are also available. They can be identified with the bridge suffix in the name. They should be used with the HTTP bridge.

rotate

svan rotates around Z-axis.

source: examples/rotate.py

pushup and twirl

svan rotates around Z-axis.

source: examples/pushup_twirl.py

examples (deprecated)

sine wave circle

moves in a circular path while varying height.

source: examples/deprecated/sine_wave_circle.py

hand gesture movement control

author: Atharv Nawale

move and stop the svan using hand gestures. powered by mediapipe.

source: examples/deprecated/hand_control.py

hand gesture height control

author: Dhruv Shah

control the svan's height using gestures. powered by mediapipe.

source: examples/deprecated/height_control.py