ros_demo

ROS/Gazebo demo using the ROTORS framework Rotors Github page can be accessed here.

Dependencies: Verified to work

Ubuntu 16.04
ROS Kinetic

Installation

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

Potential Issues

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.

Test Installation

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.

Download project code and miscellaneous dependencies

cd ~/catkin_ws/src
git clone https://github.com/chandrusuresh/ros_demo.git

Run the project

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.