Video Tutorial at https://youtu.be/1FpJvUVPxL0
In this tutorial we are using Ubuntu 20.04 and ROS Noetic
Code blocks are meant to be typed in Terminal windows. "Control+Alt+T" opens a new Terminal window.
- Do Desktop-full Install
- Follow until Step 1.7 at the end of the page
First, install ROS Noetic using the following instructions: http://wiki.ros.org/noetic/Installation/Ubuntu
We use catkin build instead of catkin_make. Please install the following:
sudo apt-get install python3-wstool python3-rosinstall-generator python3-catkin-lint python3-pip python3-catkin-tools
pip3 install osrf-pycommon
Then, initialize the catkin workspace:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
Install mavros and mavlink from source:
cd ~/catkin_ws
wstool init ~/catkin_ws/src
rosinstall_generator --upstream mavros | tee /tmp/mavros.rosinstall
rosinstall_generator mavlink | tee -a /tmp/mavros.rosinstall
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src
rosdep install --from-paths src --ignore-src --rosdistro `echo $ROS_DISTRO` -y
catkin build
Add a line to end of ~/.bashrc by running the following command:
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
update global variables
source ~/.bashrc
install geographiclib dependancy
sudo ~/catkin_ws/src/mavros/mavros/scripts/install_geographiclib_datasets.sh
cd ~/catkin_ws/src
git clone https://github.com/Intelligent-Quads/iq_sim.git
Our repository should now be copied to ~/catkin_ws/src/iq_sim/ (don't run this line. This is just saying that if you browse in the file manager, you will see those folders).
run the following to tell gazebo where to look for the iq models
echo "GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$HOME/catkin_ws/src/iq_sim/models" >> ~/.bashrc
Inside catkin_ws, run catkin build:
cd ~/catkin_ws
catkin build
update global variables
source ~/.bashrc