Ubuntu ‐ Setup Drone Environment

Clone Drone Repository

mrover
cd ../

Running pwd should tell you you're in the folder ros2_ws/src

After confirming this, clone the repository:

git clone [email protected]:umrover/mrover-drone.git --recurse-submodules mrover_drone && cd mrover_drone

If submodules / dependencies change:

git submodule update --recursive

ROSDEP Wiki Page Initialize ROSDEP:

sudo rosdep init
rosdep update

Install Dependencies:

cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y

TODO

Manual build process copied from the above link

cd ~/ros2_ws/src/mrover_drone/deps/
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
cd PX4-Autopilot/
make px4_sitl

cd ~/ros2_ws/src/mrover_drone/deps/Micro-XRCE-DDS-Agent
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig /usr/local/lib

Start by running the DDS agent. In a new terminal, run:

MicroXRCEAgent udp4 -p 8888

This will start a MicroXRCE DDS agent on port 8888.

We can now start the PX4-sitl ("software in the loop") simulator.

This will start a uXRCe-DDS client automatically on localhost port 8888.

In a new terminal, run the following command:

cd ~/ros2_ws/src/mrover_drone/deps/PX4-Autopilot
make px4_sitl gz_x500

You should now see output in the DDS agent terminal, and Gazebo should launch.

MAVROS should be added by rosdep. However, you must run the following to download a required dataset:

cd ~/ros2_ws/src/mrover_drone
chmod +x ./scripts/install_geographiclib_datasets.sh
sudo ./scripts/install_geographiclib_datasets.sh