Autonomus_Quadcopter

ROS INSTALLATION

ROS Kinetic ONLY supports Wily (Ubuntu 15.10), Xenial (Ubuntu 16.04) and Jessie (Debian 8) for debian packages

Setup your sources.list

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

Installation

sudo apt-get update

sudo apt-get install ros-kinetic-desktop-full

Initialize rosdep

sudo rosdep init
rosdep update

Environment setup

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Check the version of gazebo installed It should be gazebo7.

gazebo -v

Run

gazebo

MAVROS

The mavros ROS package enables MAVLink extendable communication between computers running ROS, MAVLink enabled autopilots, and MAVLink enabled GCS.

Installation

Binary Installation (Debian / Ubuntu)

sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras

wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo bash ./install_geographiclib_datasets.sh

Source Installation

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws

sudo apt-get install python-catkin-tools python-rosinstall-generator -y

catkin init

sudo apt-get install wstool

wstool init src
wstool init ~/catkin_ws/src

Install MAVLink

rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall

Install MAVROS from source

rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall

Create workspace & deps

wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y

Install GeographicLib datasets:

sudo apt-get ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh

Build source

catkin build

Make sure that you use setup.bash or setup.zsh from workspace.

source devel/setup.bash

You again need to check the version of gazebo.

if wouldn't get gazebo7, then remove the version that you have on you PC. Reinstall gazebo7. Here is an example of removing gazebo9

sudo apet-get remove gazebo9

Installation of gazebo7

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

$ sudo apt-get update
$ sudo apt-get install gazebo7
# For developers that work on top of Gazebo, one extra package
$ sudo apt-get install libgazebo7-dev