README.md

clover ROS package

A bundle for autonomous navigation and drone control.

Manual installation

Install ROS Noetic according to the documentation, then create a Catkin workspace.

Clone this repo to directory ~/catkin_ws/src/clover:

cd ~/catkin_ws/src
git clone https://github.com/CopterExpress/clover.git clover

All the required ROS packages (including mavros and opencv) can be installed using rosdep:

cd ~/catkin_ws/
rosdep install -y --from-paths src --ignore-src

Build ROS packages (on memory constrained platforms you might be going to need to use -j1 key):

cd ~/catkin_ws
catkin_make -j1

To complete mavros install you'll need to install geographiclib datasets:

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

You may optionally install udev rules to provide /dev/px4fmu symlink to your PX4-based flight controller connected over USB. Copy 99-px4fmu.rules to your /lib/udev/rules.d folder:

cd ~/catkin_ws/src/clover/clover/udev
sudo cp 99-px4fmu.rules /lib/udev/rules.d

Alternatively you may change the fcu_url property in mavros.launch file to point to your flight controller device.

Running

To start connection to the flight controller, use:

roslaunch clover clover.launch

For the simulation information see the corresponding article.

Note that the package is configured to connect to /dev/px4fmu by default (see previous section). Install udev rules or specify path to your FCU device in mavros.launch.