ROS/Gazebo demo using the ROTORS framework Rotors Github page can be accessed here.
- Ubuntu 16.04
- ROS Kinetic
The following are the steps needed to get this repo to work with the above dependencies. Refer to the ROTORS project page on Github for more details.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full ros-kinetic-joy ros-kinetic-octomap-ros ros-kinetic-mavlink python-wstool python-catkin-tools protobuf-compiler libgoogle-glog-dev ros-kinetic-control-toolbox
sudo rosdep init
rosdep update
source /opt/ros/kinetic/setup.bash
If you have not created a catkin workspace, create one:
mkdir ~/catkin_ws
mkdir ~/catkin_ws/src
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
Clone the ROTORS starter code from github.
cd ~/catkin_ws/src
git clone https://github.com/ethz-asl/rotors_simulator.git
git clone https://github.com/ethz-asl/mav_comm.git
cd ~/catkin_ws
catkin build
source ~/catkin_ws/devel/setup.bash
There might be some issues with mav link. Install those dependencies. I recall I installed something, but don't remember what. In any case, this is only necessary if the following test fails.
roslaunch rotors_gazebo mav_hovering_example.launch
This will show a mav take-off after 5 seconds and hover at a height of z = 1.
If this succeeds, all the dependencies needed to run this project have been installed correctly.
cd ~/catkin_ws/src
git clone https://github.com/chandrusuresh/ros_demo.git
cd ..
catkin build
source ~/catkin_ws/devel/setup.bash
roslaunch rotors_gazebo mav_hovering_demo.launch
This is essentially an identical example as above that's cloned into this repo. You are all set if this simulation runs without errors.