PILOTING General Robot Control Station

This repository contains the gRCS (General Robot Control Station) developments of the PILOTING H2020 project.

In the following video you can see the complete integration with the PILOTING ecosystem. In particular, a real use case of visual inspection on a viaduct is shown: PILOTING I&M Platform – Workflow.

Dependencies installation

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Build essentials and cmake

sudo apt-get install build-essential cmake

Qt5

sudo apt-get install qt5-default

QsLog

Clone QsLog on your third-party dependencies folder and follow the installation instructions.

ROS(Robot Operative System)

Follow up your ROS distro installation guide: Melodic or Noetic

(Optional) Clang-Format 16

sudo add-apt-repository 'deb http://apt.llvm.org/focal/ llvm-toolchain-focal main'
sudo apt update
sudo apt install clang-format-16

• Troubleshooting installing clang-format

If you end up with a missing key error like this one:

Err:1 https://apt.llvm.org/focal llvm-toolchain-focal InRelease 
The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 15CF4D18AF4F7421 

You can solve it by adding that necessary key:

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 15CF4D18AF4F7421 
sudo apt update

PILOTING MAVSDK

On your third-party dependencies folder:

git clone https://github.com/fada-catec/piloting_mavsdk && cd piloting_mavsdk

mkdir build && cd build

cmake .. -DCMAKE_BUILD_TYPE=Release && make -j{n_proc}

sudo make install

Building guide

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There are two ways:

• Creating a catkin workspace by the default compiler way of ROS:

mkdir -p grcs_ws/src && grcs_ws/src && git clone https://github.com/fada-catec/piloting_grcs

cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release

• Via the default way of cmake creating a build folder:

git clone https://github.com/fada-catec/piloting_grcs && cd piloting_grcs

mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE=Release

make

Usage guide

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The following is a short guide to the implementation of the application and connection to the robotic vehicles and the DDHL portal.

Launch application

If catkin has been used, it is sufficient to use:

source devel/setup.bash

rosrun piloting_grcs piloting_grcs_node

In case cmake has been used, inside the build folder the executable will be:

./devel/lib/piloting_grcs/piloting_grcs

Conection with Data Distribution & Harmonization Layer (DDHL)

The connection with the DDHL is made throw REST-API. This is the website of the DDHL portal: https://portal.piloting-project.eu/login (If you need credentials, please contact the I&M portal administrators)

Conection with robotic vehicles

The connection with robotic vehicles are made throw mavsdk library. To know how to integrate the masdk robotic side in your robot using ROS take a look to the piloting-mavsdk-ros repository.

Note that we can only connect to the robotic vehicle once we have downloaded an inspection plan from gRCS.

Docker container guide

Follow the README file located inside the docker folder.

Help / Contribution

• Contact: Marco A. Montes ([email protected]) or Joaquín Borrego ([email protected])

  

• Found a bug? Create an ISSUE!

• Do you want to contribute? Create a PULL-REQUEST!

Acknowledgement

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Supported by PILOTING - PILOTs for robotic INspection and maintenance Grounded on advanced intelligent platforms and prototype applications. More information: piloting-project.eu

This project has received funding from the European Union's Horizon 2020
research and innovation programme under grant agreement 871542.