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how_to_config.md

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How to configure?

  • config.yaml for uav_bridge_mavlink
  • command line parameter for uav_bridge_camera
  • Section 1: rates for polling HIGHRES_IMU and ATTITUDE_QUATERNION

# Recommended for VINS Mono, 100Hz mavlink_rate: 50

  • Section 2: link between ardupilot and uav_mavlink

# "uart" --> UART # "udpc" --> UDP Client # "udps" --> UDP Server mavlink_activate: "udpc"

  • Section 3: drone links

# Currently, there is only one link, dual link might be considered for backup. # Please check above activated link. uav_com:

  • type: "uart" path: "/dev/ttyUSB0" baud: 921600
  • type: "udps" port: 14560
  • type: "udpc" port: 14550 addr: "192.168.1.15"
  • Section 4: IPC links between VINS Mono/Fusion, ego-planner and uav_mavlink

# "ipc1" --> for att_pos_mocap/vision_speed_estimate # "ipc2" --> for MAV_FRAME_BODY_OFFSET_NED commands ipcs:

  • type: "ipc1" path: "/tmp/uav_server"
  • type: "ipc2" path: "/tmp/uav_server2"
  • Section 5: ROS topic for IMU data

uav_imu: "/tmp/uav_imu"

  • Section 6: debug

debug: false

  • Section 7: config for uav_bridge_camera
  1. Run local jetson csi camera

rosrun uav_bridge uav_bridge_camera csi://0

  1. Run remote rtp camera

rosrun uav_bridge uav_bridge_camera rtp://@:5400

Help for uav_bridge_camera

$ rosrun uav_bridge uav_bridge_camera --help usage: video-viewer [--help] input_URI [output_URI]

View/output a video or image stream. See below for additional arguments that may not be shown above.

positional arguments: input_URI resource URI of input stream (see videoSource below) output_URI resource URI of output stream (see videoOutput below)

videoSource arguments: input resource URI of the input stream, for example: * /dev/video0 (V4L2 camera #0) * csi://0 (MIPI CSI camera #0) * rtp://@:1234 (RTP stream) * rtsp://user:pass@ip:1234 (RTSP stream) * webrtc://@:1234/my_stream (WebRTC stream) * file://my_image.jpg (image file) * file://my_video.mp4 (video file) * file://my_directory/ (directory of images) --input-width=WIDTH explicitly request a width of the stream (optional) --input-height=HEIGHT explicitly request a height of the stream (optional) --input-rate=RATE explicitly request a framerate of the stream (optional) --input-save=FILE path to video file for saving the input stream to disk --input-codec=CODEC RTP requires the codec to be set, one of these: * h264, h265 * vp8, vp9 * mpeg2, mpeg4 * mjpeg --input-decoder=TYPE the decoder engine to use, one of these: * cpu * omx (aarch64/JetPack4 only) * v4l2 (aarch64/JetPack5 only) --input-flip=FLIP flip method to apply to input: * none (default) * counterclockwise * rotate-180 * clockwise * horizontal * vertical * upper-right-diagonal * upper-left-diagonal --input-loop=LOOP for file-based inputs, the number of loops to run: * -1 = loop forever * 0 = don't loop (default) * >0 = set number of loops

videoOutput arguments: output resource URI of the output stream, for example: * file://my_image.jpg (image file) * file://my_video.mp4 (video file) * file://my_directory/ (directory of images) * rtp://:1234 (RTP stream) * rtsp://@:8554/my_stream (RTSP stream) * webrtc://@:1234/my_stream (WebRTC stream) * display://0 (OpenGL window) --output-codec=CODEC desired codec for compressed output streams: * h264 (default), h265 * vp8, vp9 * mpeg2, mpeg4 * mjpeg --output-encoder=TYPE the encoder engine to use, one of these: * cpu * omx (aarch64/JetPack4 only) * v4l2 (aarch64/JetPack5 only) --output-save=FILE path to a video file for saving the compressed stream to disk, in addition to the primary output above --bitrate=BITRATE desired target VBR bitrate for compressed streams, in bits per second. The default is 4000000 (4 Mbps) --stun-server=URL WebRTC connection STUN server (set to 'disabled' for LAN) --headless don't create a default OpenGL GUI window

logging arguments: --log-file=FILE output destination file (default is stdout) --log-level=LEVEL message output threshold, one of the following: * silent * error * warning * success * info * verbose (default) * debug --verbose enable verbose logging (same as --log-level=verbose) --debug enable debug logging (same as --log-level=debug)