Clone the repo:
git clone https://github.com/gtu-ros/drone_ws.git
or
git clone https://<oauth-key-goes-here>@github.com/gtu-ros/drone_ws.git
Initialize the drone workspace:
cd ~/drone_ws
catkin init
Build workspace
cd ~/drone_ws
catkin build
Add setup.bash to your .bashrc
echo "source ~/drone_ws/devel/setup.bash" >> ~/.bashrc
Update global variables
source ~/.bashrc
You can read ROS_Guides folder ROS Noetic guides.
This repo was clonned from https://github.com/erhangk/ROS_Guides.git
Gazebosim link:
Gazebo camera plugin guides:
https://classic.gazebosim.org/tutorials?tut=ros_gzplugins
https://answers.ros.org/question/210695/adding-a-camera-to-a-model-in-gazebo-beginner/
Your .bashrc file should look like this:
alias start_ardupilot='./start_ardupilot.sh'
alias start_gazebo='gazebo --verbose worlds/iris_arducopter_runway.world'
alias start_rosgazebo='roslaunch ardupilot_gazebo iris_with_roscam.launch'
source /opt/ros/noetic/setup.bash
source ~/drone_ws/devel/setup.bash
export PATH=$PATH:$HOME/ardupilot/Tools/autotest
export PATH=/usr/lib/ccache:$PATH
source /usr/share/gazebo/setup.sh
export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models
GAZEBO_MODEL_PATH=~/drone_ws/src/ardupilot_gazebo/models
roslaunch ardupilot_gazebo iris_with_roscam.launch
Check if camera topics are being published:
rostopic list
You should see something like this:
erhangk@erhan-Acer:~$ rostopic list
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/performance_metrics
/gazebo/set_link_state
/gazebo/set_model_state
/roscam/cam/camera_info
/roscam/cam/image_raw
/roscam/cam/image_raw/compressed
/roscam/cam/image_raw/compressed/parameter_descriptions
/roscam/cam/image_raw/compressed/parameter_updates
/roscam/cam/image_raw/compressedDepth
/roscam/cam/image_raw/compressedDepth/parameter_descriptions
/roscam/cam/image_raw/compressedDepth/parameter_updates
/roscam/cam/image_raw/theora
/roscam/cam/image_raw/theora/parameter_descriptions
/roscam/cam/image_raw/theora/parameter_updates
/roscam/cam/parameter_descriptions
/roscam/cam/parameter_updates
/rosout
/rosout_agg
It must be installed with "pip3 installed imagemagick" because of using generate_marker_model.py
In order to avoid conflict between MAVROS and Dronekit, instance of start_ardupilot.sh should be like this:
cd ~/ardupilot/ArduCopter ../Tools/autotest/sim_vehicle.py -f gazebo-iris --console --map --out=udp:127.0.0.1:14551
If you are not going to use MAVROS you can use this:
cd ~/ardupilot/ArduCopter ../Tools/autotest/sim_vehicle.py -f gazebo-iris --console --map