Open a terminal and then copy and paste the following commands into it. (each block can be copied and pasted at once)
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
sudo rosdep init
rosdep update
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install ros-kinetic-mavros ros-kinetic-mavros-extras
sudo /opt/ros/kinetic/lib/mavros/install_geographiclib_datasets.sh
Prepare tools for building PX4
sudo apt-get update
sudo apt-get install python-argparse git-core wget zip python-empy qtcreator cmake build-essential genromfs -y
sudo apt-get install ant protobuf-compiler libeigen3-dev libopencv-dev openjdk-8-jdk openjdk-8-jre clang-3.5 lldb-3.5 python-toml python-numpy -y
sudo apt-get install python-pip -y
sudo -H pip install pandas jinja2
Download source files from Github
cd /tmp
mkdir me190
cd me190
git clone https://github.com/PX4/Firmware.git
cd Firmware
git submodule update --init --recursive
Wait until downloading finish correctly, then run
make posix_sitl_default gazebo
A window will pop up shows a quadcoter
Open a new Terminal and run:
cd ~
mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
Create an empty ROS package called ex1 node which depends on mavros. It will create CMakeLists.txt and packages.xml for you.
catkin_create_pkg ex1 mavros
Then you can pull the given c++ source code to your ex1 package folder
cd ex1/
wget https://github.com/UCM-ME190/MavRos-takeoff-n-land/raw/master/takeoff_n_land.cpp
After that, let's change the generated CMakeLists.txt file so that ros knows how to build this package
gedit CMakeLists.txt
Put those two lines at the end of the CMakeLists.txt file.
add_executable(takeoff_n_land takeoff_n_land.cpp)
target_link_libraries(takeoff_n_land ${catkin_LIBRARIES})
Here you have finished modifing files. Build this ROS package by
cd ~/catkin_ws
catkin_make
run following command so that rosrun can find our new nodes in your ex1 package
In the terminal you have, run
roscore
Open another two terminals, inside one you run
roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14540"
inside another, run the ROS node you just built
cd ~/catkin_ws
source ./devel/setup.bash
rosrun ex1 takeoff_n_land
[1] http://wiki.ros.org/kinetic/Installation/Ubuntu
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