drone_ros

This is the tutorial for setting-up a drone in an evironment with all its packages in ROS.

Prerequisites

• ROS Melodic /Kinetic /Hydro
• Gazebo 8 or higher
• Rviz
• Existing catkin_ws

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1) Setup

1.1

1.2 Alternative setup

(Try this only if 1.1 does not work out for you)

• First delete all the residual drone packages that you cloned in 1.1
• Clone all the packages stated below in the src folder in your catkin_ws

$ cd catkin_ws/src
$ git clone https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor.git
$ git clone https://github.com/tu-darmstadt-ros-pkg/hector_localization.git
$ git clone https://github.com/tu-darmstadt-ros-pkg/hector_models.git
$ git clone https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git

• Compile the catkin_ws to build all the packages

$ cd catkin_ws
$ catkin_make

2) Launch environment

For a smooth interface launch only one of these environments at a time

• For outdoor navigation

$  roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch

• For indoor navigation

$  roslaunch hector_quadrotor_demo indoor_slam_gazebo.launch

3) Enable motors

This step can be skipped for most systems. But for the few exceptions, you have to manually turn on the motors for the flight simulation.

$  rosservice call /enable_motors "enable: true"

4) Launch teleoperation

For navigation of the drone through terminal input, in a separate terminal enter

$  rosrun teleop_twist_keyboard teleop_twist_keyboard.py