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Installation.md

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Installation

ROS

You can find these installation instructions here.

Setup your sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

Update packages and install ROS

sudo apt update
sudo apt install ros-melodic-desktop-full

Setup the environment

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Dependencies

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

Rosdep

sudo apt install python-rosdep
sudo rosdep init
rosdep update

Ardupilot

Installing Ardupilot and MAVProxy

Clone ArduPilot

In home directory:

cd ~
sudo apt install git
git clone https://github.com/ArduPilot/ardupilot.git
cd ardupilot
git checkout Copter-3.6
git submodule update --init --recursive

Install dependencies:

sudo apt install python-matplotlib python-serial python-wxgtk3.0 python-wxtools python-lxml python-scipy python-opencv ccache gawk python-pip python-pexpect

Use pip (Python package installer) to install mavproxy:

sudo pip install future pymavlink MAVProxy

Open ~/.bashrc for editing:

gedit ~/.bashrc

Add these lines to end of ~/.bashrc (the file open in the text editor):

export PATH=$PATH:$HOME/ardupilot/Tools/autotest
export PATH=/usr/lib/ccache:$PATH

Save and close the text editor.

Reload ~/.bashrc:

. ~/.bashrc

Run SITL (Software In The Loop) once to set params:

cd ~/ardupilot/ArduCopter
sim_vehicle.py -w

Gazebo and Plugins

Gazebo

Setup your computer to accept software from http://packages.osrfoundation.org:

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

Setup keys:

wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

Reload software list:

sudo apt update

Install Gazebo:

sudo apt install gazebo9 libgazebo9-dev

Install Gazebo plugin for APM (ArduPilot Master) :

cd ~
git clone https://github.com/khancyr/ardupilot_gazebo.git
cd ardupilot_gazebo
git checkout dev

build and install plugin

mkdir build
cd build
cmake ..
make -j4
sudo make install
echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc

Set paths for models:

echo 'export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models' >> ~/.bashrc
. ~/.bashrc

Run Simulator

In one Terminal (Terminal 1), run Gazebo:

gazebo --verbose ~/ardupilot_gazebo/worlds/iris_arducopter_runway.world

In another Terminal (Terminal 2), run SITL:

cd ~/ardupilot/ArduCopter/
sim_vehicle.py -v ArduCopter -f gazebo-iris --console

In another Terminal (Terminal 3), run Navigation Stack:

rosrun interiit21_drdo nav.py

Then in the MavProxy Console

STABILIZE> arm throttle
STABILIZE> mode GUIDED

This should enable the nav.py console to control the drone manually.