Agihawk

This pacakge provides interface of Agilicious to Pixhawk4 SITL simulator.

How to Install

We test the following installation steps in Ubuntu18.04 with ROS Melodic.

I. Build and Run the Simulator

In the following section we guide you through installing and running a Gazebo simulation.

Clone the PX4 Firmware and all its submodules (it may take some time).

cd ~
git clone https://github.com/PX4/Firmware.git --recursive
cd ~/Firmware

Install PX4 dependencies.

# Install PX4 "common" dependencies.
./Tools/setup/ubuntu.sh --no-sim-tools --no-nuttx

# Gstreamer plugins (for Gazebo camera)
sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev

Build the Firmware once in order to generate SDF model files for Gazebo. This step will actually run a simulation (that you can immediately close).

# This is necessary to prevent some Qt-related errors (feel free to try to omit it)
export QT_X11_NO_MITSHM=1

# Build and run simulation
make px4_sitl_default gazebo

# Quit the simulation (Ctrl+C)

# Setup some more Gazebo-related environment variables (modify this line based on the location of the Firmware folder on your machine)
. ~/Firmware/Tools/simulation/gazebo-classic/setup_gazebo.bash ~/Firmware ~/Firmware/build/px4_sitl_default

Download mavros

sudo apt-get install ros-$ROS_DISTRO-mavros

Finally, set the ROS_PACKAGE_PATH and GAZEBO_MODEL_PATH in your bashrc. Ensure your ~/.bashrc is setup correctly so that each new terminal is sourced correctly:

sudo gedit ~/.bashrc

Ensure that at the bottom of that document you have exactly this:

source /opt/ros/melodic/setup.bash
px4_dir=~/Firmware
source $px4_dir/Tools/setup_gazebo.bash $px4_dir $px4_dir/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$px4_dir
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$px4_dir/Tools/sitl_gazebo

II. Install Agilicious

Follow the guide in https://github.com/uzh-rpg/agilicious to install the Agilicious.

III. Install Agihawk

Clone the Agihawk repository to the same work space as Agilicious. Assume that the source folder is in path ~/agi_ws/src.

cd ~/agi_ws/src
git clone https://github.com/FSC-Lab/agihawk
git clone https://github.com/catkin/catkin_simple
git clone https://github.com/ethz-asl/mav_comm.git
catkin build

Go to the ~/.bashrc setup and add the following line before the px4 firmware setups. The content should look like:

source /opt/ros/melodic/setup.bash

source ~/agi_ws/devel/setup.bash

px4_dir=~/Firmware
source $px4_dir/Tools/setup_gazebo.bash $px4_dir $px4_dir/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$px4_dir
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$px4_dir/Tools/sitl_gazebo

IV. Downgrade the PyQt5

In order to use the rpt_gui, we need to downgrade the PyQt5 to 5.10.1 to match the version rpt

pip install PyQt5==5.10.1

Run Agihawk With the Gazebo Simulator

Open a new terminal to automatically source the bashrc file. Use launch file to put everything together

roslaunch agihawk run_px4_simulation.launch

Run Agihawk With the RotorS Simulator

git clone https://github.com/ethz-asl/rotors_simulator

sudo apt-get install ros-$ROS_DISTRO-joy ros-$ROS_DISTRO-octomap-msgs ros-$ROS_DISTRO-octomap-ros ros-$ROS_DISTRO-mavlink protobuf-compiler libgoogle-glog-dev  ros-$ROS_DISTRO-control-toolbox ros-$ROS_DISTRO-gazebo-plugins

roslaunch agihawk run_rotors_simulation.launch