DroneOpsGuide.txt

22-March-2019

Preparing Environment
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- Check bashrc file for correct IP/WiFi (ROS_MASTER_URI)
- Connect ethernet cable from ASUS router to laptop
- Check IP (using ifconfig on laptop) of ethernet connection to router
- Verify that this IP is set as ROS_HOSTNAME in bashrc file
- Source bash

Updating Repository
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Navigate to Terpcopter 3.0 
    $ cd ~/amav/Terpcopter3.0
Check for any updates
    $ git pull
If there are updates: use your own username/pass
If you have any commits to make, 
    $ git add (files)
    $ git commit -m "type your message"
To update the local list of remote branches
    $ git remote update origin --prune

Powering Drone and Setup
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- Check battery capacity (above 50%)
- Plug in to drone
- check connectivity: ping from terminal (use ROS_MASTER_URI)
    $ ping 192.168.1.93 
- check ros is running on drone: (doesn't required any roscore launched on laptop)
    $ rostopic list 
- start matlab: $ matlab &
- Navigate to /home/amav/amav/Terpcopte3.0/matlab/GUI
- Start Master_GUI.m
    - Run Estimation (wait to load "ACTIVE" on master gui)
- If MATLAB cannot connect to ROS network, to resolve close MATLAB, open new terminal, source bashrc, restart MATLAB from this terminal


Troubleshooting
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Check if drone is connected to router:
- Go to http://router.asus.com/ in Firefox
- username/pass : admin/(13 char)
- Network Map -> clients -> see list of devices connected (terpcopter, odroid)
- this also shows IP addresses

When starting Esimation node "No imu data"
- may be low battery
- check /mavros/imu/data topic on both drone and laptop