/rviz_waypoint_navigator

GUI interface for waypoint_navigator using Rviz.

Primary LanguageJavaScriptBSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

rviz_waypoint_navigator

GUI interface for waypoint_navigator using Rviz.

Installation

  1. Install ROS kinetic (if you haven't done so):
$ 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 
$ sudo rosdep init
$ rosdep update
$ source /opt/ros/kinetic/setup.bash
  1. extra ROS packages, catkin-tools, wstool, and others:
$ sudo apt-get install ros-kinetic-joy ros-kinetic-octomap-ros ros-kinetic-mavlink ros-kinetic-control-toolbox ros-kinetic-cmake-modules ros-kinetic-mavros ros-kinetic-gazebo-plugins ros-kinetic-gazebo-ros ros-kinetic-xacro 
$ sudo apt-get install python-wstool python-catkin-tools autoconf protobuf-compiler libgoogle-glog-dev liblapacke-dev
$ sudo rosdep init
$ rosdep update
  1. Recommended to setup a clean catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
catkin config --extend /opt/ros/kinetic
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin config --merge-devel
  1. We use wstool to install dependencies and keep track of versions.
cd src
wstool init
wstool set --git rviz_waypoint_navigator git@github.com:ToniRV/rviz_waypoint_navigator.git -y
wstool update
wstool merge rviz_waypoint_navigator/install/gazebo_rotors_simulation.rosinstall
wstool update -j8
  1. Source your newly created workspace
source ~/catkin_ws/devel/setup.bash

Alternatively, add this command to your bashrc to avoid having to source your workspace for each new terminal.

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
  1. Finally, build the workspace:
catkin build

6.1. If you have compilation issues with rotors_hil_interface, just do not compile it, as we are not using it:

roscd rotors_hil_interface && touch CATKIN_IGNORE
  1. Finally, install gazebo (version >= 8.0)
curl -sSL http://get.gazebosim.org | sh

Usage with Gazebo and RVIZ

  1. In a new terminal (remember to source the workspace), type:
$ roslaunch waypoint_navigator mav_sim.launch
  1. In a new command window, type:
$ roslaunch rviz_waypoint_navigator rviz_waypoint_navigator.launch
  1. Launch RVIZ using the configuration in the rviz folder:
rviz -d ~/catkin_ws/src/rviz_waypoint_navigator/rviz/rviz_waypoint_navigator.rviz

NOTE If you do not see the drawn drone in Rviz, reset the InteractiveMarkers topic at the left side panel in Rviz by clicking on Update Topic and clicking to the topic which should be /firefly/rviz_waypoint_navigator/update. Repeat several times, until you see the drone with interactive markers, otherwise try to relaunch the launch files.

Now you should see two screens: a) Gazebo with the drone b) RVIZ with a drawn drone with interactive markers shaped as a frame of reference. You can click and drag along these arrows to move the drawn drone around. Then, right click on it: a drop-menu should appear. Click on Store pose as waypoint. Repeat as long as you want. Then, right click again to see the menu and click Plan path through stored waypoints. You should see the drone moving.

See Issues section below if you encounter problems.

Simulation

Gazebo + RotorS

Issues

Compilation Issues