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LICENSE.txt

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 RedwanNewaz
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

@@ -1,24 +1,137 @@
-# Bebop2 Controller
+@mainpage Parrot Bebop2 Drone with Joystick Controller README File
+
+
+## Introduction
+
+The Parrot Bebop 2 is a small, lightweight manufactured by Parrot, a French company specializing in consumer electronics. It is compact and lightweight, making it easy to transport and use on the go which makes it a popular choice 
+It's camera has a most impressive electronic image stabilization and with a top speed of 40 mph, this drone can really move. The Bebop 2 has a battery life of up to 25 minutes. <br>
+
+This README file explains how to control the drone using a joystick and ROS drivers, add visual servoing capabilities, and scan for April Tags to find the drone's relative position.
+
+-----------------------------------------
+
+<img src="/Images/img-bebop2.jpg" alt="Parrot Bebop2 Drone" align="right" width="400" height="400">
+
+
 
 ## Quick Run
 
-Connect your joystick to the computer.
-Joystick buttons perform following operations:
+**Hardware Setup**: 
+Connect your joystick to the computer. <br>
+
+
+Before starting the program, the drone should be turned on and the computer connected to the drone WiFi.
+
+> **Warning**
+> It is strictly recommended to use protective equipments while testing the drone. <br>
+If the drone needs to be shut down completely then we should flip the drone.
+
+
+*Joystick buttons perform following operations*:
+
 ```angular2html
-    IDLE = 0, // setpoint can be freely moved with joystick. Sphere color blue
-    TAKEOFF = 1, // drone will takeoff from the ground
-    LAND = 2, //drone will land
-    ENGAGE = 3, // set current location as a set point (for hover). Sphere color yellow
-    CONTROL = 4 // start PID controller for the current (ENGAGE) setpoint. Sphere color cyan
+    IDLE = 0, // Setpoint can be freely moved with joystick. Sphere color blue
+
+    TAKEOFF = 1, // Drone will takeoff from the ground
+
+    LAND = 2, // Drone will land
+
+    ENGAGE = 3, // Set current location as a set point (for hover). Sphere color yellow
+
+    CONTROL = 4 // Start PID controller for the current (ENGAGE) setpoint. Sphere color cyan
 ```
 
 Once control mode is enabled, setpoint can also be controlled using joystick axes.
-Note that, only position controller is implemented. 
+Note that, only position controller is implemented from the analog sticks. 
 Orientation controller needs yaw angle which could be directly obtained from bebop odom.
 
+------------------------------------------
+
+
+## Software Setup:
+
+
+-- **Installation of bebop_autonomy** from fork manually is required to send relative move commands to the drone. Check out [install bebop_autonomy from fork and build visp](http://wiki.ros.org/visp_ros/Tutorials/How%20to%20do%20visual%20servoing%20with%20Parrot%20Bebop%202%20drone%20and%20visp_ros). <br><br>
+Bebop_autonomy is a ROS driver for Parrot Bebop 2.0 drones (quadrocopters), based on Parrot’s official ARDroneSDK3. You can check out [this source code](https://github.com/AutonomyLab/bebop_autonomy) for the driver is for more understanding.
+
+---------------------------------------------
+
+
+<img align="right" width="280" height="200" alt="Joystick Controller" src="/Images/f710-gallery-1.png">
+
+## Operating the drone
+
+
+The Parrot Bebop 2 Drone can be controlled from a PID Joystick Controller. The drone can be manuvered with the joytsick analog sticks. 
+
+The functions of the Four Action Buttons of the joystick is as follows:
+
+// To be written down. 
+
+1.  A   ---> TAKE OFF (Green button)
+2.  B   ---> LAND (Red Button)
+3.  X   ---> IDLE (Blue Button)
+4.  Y   ---> ENGAGE (Yellow Button)
+5.  L   ---> CONTROL (Top Left Button) 
+
+---------------------------------------------
+
+<img align="right" width="150" height="150" alt="AprilTag 36h11" src="/Images/tag_36h11.png">
+
+## April Tags
+
+
+AprilTag is a visual fiducial system, useful for a wide variety of tasks including augmented reality, robotics, and camera calibration. 
+Targets can be created from an ordinary printer, and the AprilTag detection software computes the precise 3D position, orientation, and identity of the tags relative to the camera. <br><br>
+
+Using the built-in camera of the Parrot Bebop 2 Drone, it scans the tag and determines its relative postion from the tag. <br>
+
+
+An April Tag from 36h11 family that will serve as target for the visual servoing (see [this page](https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-franka-pbvs.html#franka_prereq_target) to print one).
+
+
+
+---------------------------------------------
+
+## Visualisation using Graphical Interface (RVIZ)
+
+The Parrot Bebop 2 drone can be monitored and visualised using a graphical interface like rviz. <br>
+
+**For RVIZ installtion** :-
+```
+    sudo apt-get install ros-[ros-version]-rviz 
+```
+
+For example:-
+```
+    sudo apt-get install ros-noetic-rviz
+```
+
+To run rviz 
+```
+rosrun rviz rviz
+
+```
+
+Check out http://wiki.ros.org/rviz/UserGuide for more information.
+
+-----------------------------------------------
+
 ## Parameter Tuning
 
 Refer to ``config/param.yaml`` file to read about tuning parameters.
 Apriltags are used for landmarks and then
 the drone position is estimated from those landmarks.
 A complementary filter is implemented to compute state by combining multiple landmarks.
+
+------------------------------------------------
+
+## Steps to use the bebop2_controller Launch Files
+
+1. **To use Dummy Filter** : ``` roslaunch bebop_controller bebop_frames_dummy.launch ```
+2. **To use Complementary Filter** : ``` roslaunch bebop_controller bebop_complementary_filter.launch ```
+3. **To run the apriltag_ros_continuous_node** : ``` roslaunch bebop2_controller apriltag.launch ```
+
+Step 1. Press the A button on the Joystick Controller to take-off. <br>
+Step 2. Press the left-bottom (LB) button to engage Controller. <br>
+Step 3. Use the joystick axis to control the set-point

airlib/control/LQR/LQR.h

@@ -12,9 +12,16 @@
 #define DEBUG(x) std::cout << x << std::endl
 
 namespace bebop2 {
-
+    /**
+    *   @brief The LQR is an optimal control regulator that better tracks a reference trajectory.
+    * 
+    *   It predicts future states of the drone at every time step in order to minimize a global criterion/cost function. By estimating future states
+    *   based on past outputs, we are able to better regulate offset in tracking. 
+    *   The LQR algorithm is essentially an automated way of finding an appropriate state-feedback controller.
+    */
     class LQR {
     public:
+        /// @brief A default constructor for LQR.
         LQR();
 
     private:

doxygen/html/functions_eval.html → docs/html/ApriltagLandmarks_8cpp.html

@@ -3,9 +3,9 @@
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+<title>airlib: airlib/localization/Sensors/ApriltagLandmarks.cpp File Reference</title>
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@@ -68,18 +67,22 @@
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_2ea520229c6ada27f137f02e0c0cfbe6.html">airlib</a></li><li class="navelem"><a class="el" href="dir_26bf0296f6dbe0e6ecc0a36a5bb208c2.html">localization</a></li><li class="navelem"><a class="el" href="dir_0b09c446dd7a9edef411ea7168ce1167.html">Sensors</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">ApriltagLandmarks.cpp File Reference</div></div>
+</div><!--header-->
 <div class="contents">
-&#160;<ul>
-<li>CONTROL&#160;:&#160;<a class="el" href="classbebop2_1_1_controller_base.html#a76352e69566212036f3d7207ce4b6cc0a9e134b87d5f808d52d03c5f982da417a">bebop2::ControllerBase</a></li>
-<li>ENGAGE&#160;:&#160;<a class="el" href="classbebop2_1_1_controller_base.html#a76352e69566212036f3d7207ce4b6cc0aa78035010c11ea80cefb7f54823d5083">bebop2::ControllerBase</a></li>
-<li>IDLE&#160;:&#160;<a class="el" href="classbebop2_1_1_controller_base.html#a76352e69566212036f3d7207ce4b6cc0a2eb4f2f58d711bb2fc7cf6443830e41b">bebop2::ControllerBase</a></li>
-<li>LAND&#160;:&#160;<a class="el" href="classbebop2_1_1_controller_base.html#a76352e69566212036f3d7207ce4b6cc0a8b7d2a81407259ab3721dfc2e6827b97">bebop2::ControllerBase</a></li>
-<li>TAKEOFF&#160;:&#160;<a class="el" href="classbebop2_1_1_controller_base.html#a76352e69566212036f3d7207ce4b6cc0a034f3ebd64c6dedc4232ea246cb82f0a">bebop2::ControllerBase</a></li>
-</ul>
+<div class="textblock"><code>#include &quot;<a class="el" href="ApriltagLandmarks_8h_source.html">airlib/localization/Sensors/ApriltagLandmarks.h</a>&quot;</code><br />
+</div>
+<p><a href="ApriltagLandmarks_8cpp_source.html">Go to the source code of this file.</a></p>
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