Flight Robotics

Repository for ROS-native robot for the Flight Robotics course at University of Stuttgart

Requirements

ROS Noetic
MATLAB/Simulink R2020b
- MATLAB
- Simulink
- MATLAB CODER
- MATLAB COMPILER
- MATLAB COMPILER SDK
- Simulink Coder
- Embedded Coder
- Aerospace Blockset
- ROS Toolbox
- Aerospace Toolbox
- Control System Toolbox
- Symbolic Math Toolbox

Installation

Execute the following commands in a terminal window:

cd ~
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/erdemuysalx/flight_robotics.git
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash

The last command needs to be executed in each terminal window in which you would like to run any ROS command, such as "roslaunch", "rostopic", etc.

Run the Simulation

Launch Gazebo/ROS simulation

In a terminal window run:

source ~/catkin_ws/devel/setup.bash
roslaunch rrbot_gazebo rrbot_world.launch

Launch Simulink Simulation

Open MATLAB by clicking on the icon in the program list or by typing matlab-desktop in a terminal window.
In the file explorer in MATLAB, navigate into the folder ~/catkin_ws/src/flight_robotics/simulink.
Open the file init.m and run it by clicking on the green play button that you can find in the Editor tab in MATLAB.
Type simulink in the command window in MATLAB.
In the simulink window open the file larix_simulink_gazebo.slx.
Run the Simulink simulation by clicking on the small play button in the simulink window.
A double click on the remote control block opens a virtual remote controller that can be used to send commands to the copter.