Welcome to the Online System Identification Wiki

This wiki will guide the user of the online system identification and contingency detection modules through the different steps of installing and running the system.

Installation

Please first follow the guide for installing the fixed-wing trajectory controller, ArduPilot patch and MAVRos patch as explained in this Wiki.

Now, assuming that all the above steps are completed, clone the following repositories:

#!bash
cd ~/fixedwing_ws/src
git clone git clone git@bitbucket.org:castacks/online_system_identification.git sysid
git clone git@bitbucket.org:castacks/emergency_responder.git
git clone git@bitbucket.org:castacks/contingency_detector.git

To build the repositories:

#!bash
cd ~/fixedwing_ws
catkin build

Running the modules

First, parameters should be loaded:

#!bash
roslaunch sysid demo_params.launch

As the next step, MavProxy and MavROS modules should start (with SITL if it's a simulation). Then the trajectory controller should be loaded. For more information, please refer to Fixed-Wing Controller Wiki.

Then, the system identification, contingency detection and emergency responder modules can be run as below:

#!bash
rosrun sysid sysid_node
rosrun contingency_detector contingency_detector_node
rosrun emergency_responder emergency_responder_node

#!bash
roslaunch ~/fixedwing_ws/src/fixed_wing_explorer/launch/savebag.launch

Contact

For more questions about the system or to report any bugs in the code/Wiki, please contact Azarakhsh Keipour.