drone_ros

This is the tutorial for setting-up a drone in an evironment with all its packages in ROS.

Prerequisites

ROS Melodic /Kinetic /Hydro
Gazebo 8 or higher
Rviz
Existing catkin_ws

1) Setup

1.1 1.2 Alternative setup

(Try this only if 1.1 does not work out for you)

First delete all the residual drone packages that you cloned in 1.1
Clone all the packages stated below in the src folder in your catkin_ws

$ cd catkin_ws/src
$ git clone https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor.git
$ git clone https://github.com/tu-darmstadt-ros-pkg/hector_localization.git
$ git clone https://github.com/tu-darmstadt-ros-pkg/hector_models.git
$ git clone https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git

Compile the catkin_ws to build all the packages

$ cd catkin_ws
$ catkin_make

2) Launch environment

For a smooth interface launch only one of these environments at a time

For outdoor navigation

$  roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch

For indoor navigation

$  roslaunch hector_quadrotor_demo indoor_slam_gazebo.launch

3) Enable motors

This step can be skipped for most systems. But for the few exceptions, you have to manually turn on the motors for the flight simulation.

$  rosservice call /enable_motors "enable: true"

4) Launch teleoperation

For navigation of the drone through terminal input, in a separate terminal enter

$  rosrun teleop_twist_keyboard teleop_twist_keyboard.py

RoboticsClubIITJ/drone_ros