By
Mohammad Ryan Dirgantara 11401061
BACHELOR’S DEGREE in
MECHANICAL ENGINEERING - MECHATRONICS CONCENTRATION FACULTY OF ENGINEERING AND INFORMATION TECHNOLOGY
SWISS GERMAN UNIVERSITY The Prominence Tower
STATEMENT BY THE AUTHOR
I hereby declare that this submission is my own work and to the best of my knowledge, it contains no material previously published or written by another person, nor material which to a substantial extent has been accepted for the award of any other degree or diploma at any educational institution, except where due acknowledgement is made in the thesis.
Mohammad Ryan Dirgantara
Student Date
Approved By:
Dr. Eka Budiarto, S.T., M.Sc.
Thesis Advisor Date
Dr. Rusman Rusyadi, B.Sc., M.Sc.
Thesis Co-Advisor Date
Dr. Irvan Setiadi Kartawiria, S.T., M.Sc.
Dean Date
VALIDATING THE MATHEMATICAL MODELLING ON THE HECTOR QUADROTOR IN ROS AND CREATING THE 3D PATH PLANNING
SIMULATION USING GAZEBO SIMULATOR By
Mohammad Ryan Dirgantara Dr. Eka Budiarto, S.T., M.Sc., Advisor Dr. Rusman Rusyadi, B.Sc., M.Sc., Co-Advisor
SWISS GERMAN UNIVERSITY
The main objectives of this is research is to improve the previous quadrotor simulation created by Andreas Dhanu Saputra for his thesis project in 2017 titled Path Planning Simulation for Quadcopter using Gazebo Simulator. This thesis will explore the mathe- matical modeling used for the simulated quadrotor so user can freely change the param- eter thus they can use their own design for the simulation. The path planning will also be improved by making it into a 3 dimension simulation where in the previous simulator it is only limited to 2 dimension. Robot Operating system (ROS) and Gazebo software will be used in this research to design and simulate the quadrotor. The packages used in ROS are Hector Quadrotor package, joystick package, octomap package, and moveit pack- age. These packages were slightly modified so that it would integrate with each other and fulfill the objective of this thesis. Several experiment regarding the behaviour of the quadcopter, the mapping, and the path planning were conducted to validate the thesis.
Keywords: Quadrotor, Quadcopter, Hector Quadrotor, MoveIt!, Octomap, 3D Simu-
© Copyright 2018 by Mohammad Ryan Dirgantara
All rights reserved
DEDICATION
I dedicate this thesis work for my family my dearest friends
and
my enthusiast underclassmen of Swiss German University
ACKNOWLEDGEMENTS
In the name of Allah, the Most Gracious and the Most Merciful, Alhamdulillah. All Praise to ALLAH S.W.T the Almighty, for His Rachmat, for giving me the blessing, the strength, the endurance to complete this thesis.
Heartful gratitude for my parents for the constant prayers and for the unconditional love since 1995.
Enormous thanks to my advisor Dr. Eka Budiarto, S.T., M.Sc. who have given me the knowledge and experience to overcome any obstacle during the creation of this the- sis and of course i would also like to sincerely thank my co-advisor M.Sc. Dr. Rusman Rusyadi, B.Sc., M.Sc. for helping 24 hours 7 days a week.
My sincere thanks also goes to Andreas Dhanu Saputra who introduced me to world of ROS and quadcopter simulation.
I would also like to thank Wil Selby from Massachusetts Institute of Technology and Alessio Tonioni from University of Bologna for answering my question regarding UAV robot and MoveIt! oftenly.
Thank you Ezra Clement Budiarso for helping me during the creation of the program, Thank you for the super fast response whenever I have a question, such a good friend.
Much appreciated for Feraldo Lim who helped me to create this thesis by teaching me on how to use LaTex, this book could not have been this well organized without him, thank you.
Page
STATEMENT BY THE AUTHOR . . . 2
ABSTRACT . . . 3
DEDICATION . . . 5
ACKNOWLEDGEMENTS . . . 6
TABLE OF CONTENTS . . . 7
LIST OF FIGURES . . . 14
CHAPTER 1 - INTRODUCTION . . . 15
1.1 Background . . . 15
1.2 Thesis Purpose . . . 16
1.3 Research Questions . . . 16
1.4 Hypothesis . . . 17
1.5 Thesis Scope . . . 17
1.6 Thesis Limitation . . . 17
1.7 Thesis Outline . . . 18
CHAPTER 2 - LITERATURE REVIEW . . . 20
2.1 Quadcopter Robot . . . 20
2.2 Mathematical Modelling . . . 22
2.2.1 System Modelling . . . 22
2.2.2 Control System Design . . . 35
2.3 Software . . . 44
2.3.1 Gazebo . . . 44
2.3.2 Robotic Operating System . . . 45
2.6 Concluding Remark . . . 55
CHAPTER 3 - RESEARCH METHODS . . . 56
3.1 General Methodology . . . 56
3.2 Approach . . . 58
3.3 Software Configuration . . . 58
3.3.1 Setting up ROS and Gazebo . . . 59
3.3.2 Creating a workspace . . . 61
3.3.3 Gazebo . . . 61
3.3.4 RVIZ . . . 62
3.3.5 rqt . . . 63
3.4 Packages used in ROS . . . 64
3.4.1 Hector Quadrotor Package . . . 64
3.4.2 Joy Package . . . 68
3.4.3 MoveIt! Package . . . 68
3.4.4 Octomap Package . . . 69
3.4.5 Action Controller Package . . . 70
3.5 Joystick Configuration . . . 70
3.6 Quadrotor Model . . . 73
3.6.1 URDF . . . 73
3.6.2 Location in the package . . . 76
3.6.3 Mathematical modelling . . . 77
3.6.4 Parameter . . . 87
3.7 Environmental Design . . . 89
3.8 Path Planning . . . 91
3.8.1 Approach . . . 91
3.8.2 Making a new URDF . . . 93
3.8.3 MoveIt! setup assistant . . . 96
3.8.4 Mapping . . . 100
3.8.5 Controller Configuration . . . 102
4.1 XBOX 360 Controller Configuration . . . 114
4.1.1 Button Testing . . . 115
4.1.2 XBOX Controller connection to ROS . . . 117
4.2 Validating Thrust equation . . . 121
4.3 Quadrotor Parameter Testing . . . 122
4.3.1 Mass . . . 122
4.3.2 Inertia . . . 128
4.3.3 Quadrotor Visualization . . . 131
4.3.4 Electrical Component . . . 134
4.3.5 Controller . . . 135
4.4 Mapping Test . . . 135
4.4.1 SLAM . . . 136
4.4.2 Gmapping . . . 141
4.4.3 Octomap . . . 143
4.4.4 Conclusion . . . 144
4.5 Path Planning Test . . . 144
4.5.1 URDF Check . . . 145
4.5.2 move_group . . . 149
4.5.3 Checking the Launch File . . . 149
4.5.4 XBOX Controller Connection . . . 151
4.5.5 Path Trajectories . . . 152
4.5.6 Execution . . . 154
CHAPTER 5 - CONCLUSIONS AND RECOMMENDATIONS. . . 164
5.1 Conclusions . . . 164
5.2 Recommendations . . . 164
GLOSSARY . . . 166
