hector_quadrotor

This is a slightly-modified version of TU Darmstadt's hector_quadrotor repository, with kinetic-devel set as the main branch. The original repository is available at: https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor

Table of Contents

• Installation
• Requirements, Setup, Use
• License
• Contact

Installation

Instructions for installing this repository (hector_quadrotor) are available at the following wiki site (but reproduced below):

• https://github.com/AS4SR/general_info/wiki/(Some)-Robots-in-ROS-plus-Gazebo!#hector_quadrotor

There are three ways to install hector_quadrotor, pick one of these:

• Install manually using git:

    source /opt/ros/kinetic/setup.bash
    sudo apt install ros-kinetic-joystick-drivers ros-kinetic-teleop-twist-keyboard
    mkdir ~/catkin_ws/src
    cd ~/catkin_ws/src
    git clone https://github.com/AS4SR/hector_quadrotor.git # forked from kinetic-devel branch of https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor.git
    git clone -b catkin https://github.com/tu-darmstadt-ros-pkg/hector_slam.git
    git clone -b catkin https://github.com/tu-darmstadt-ros-pkg/hector_localization.git
    git clone -b kinetic-devel https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git
    git clone -b kinetic-devel https://github.com/tu-darmstadt-ros-pkg/hector_models.git
    cd ~/catkin_ws
    catkin_make
    source devel/setup.bash

-OR-

• Install using wstool:

    source /opt/ros/kinetic/setup.bash
    sudo apt install ros-kinetic-joystick-drivers ros-kinetic-teleop-twist-keyboard
    sudo apt install python-wstool ros-kinetic-geographic-msgs
    mkdir ~/catkin_ws/src
    cd ~/catkin_ws
    wstool init src https://raw.githubusercontent.com/AS4SR/hector_quadrotor/kinetic-devel/tutorials.rosinstall
    catkin_make
    source devel/setup.bash

-OR-

• Install using rosinstall:

    source /opt/ros/kinetic/setup.bash
    sudo apt install ros-kinetic-joystick-drivers ros-kinetic-teleop-twist-keyboard
    mkdir ~/catkin_ws/src
    rosinstall ~/catkin_ws/src /opt/ros/kinetic https://raw.githubusercontent.com/AS4SR/hector_quadrotor/kinetic-devel/tutorials.rosinstall
    cd ~/catkin_ws
    catkin_make
    source devel/setup.bash

Requirements, Setup, Use

This requires a ROS kinetic install on an Ubuntu 16.04 LTS instance. (This has been tested-working under a native Ubuntu install; testing under VirtualBox is pending. A native Ubuntu installation is preferred, as it runs much faster and more efficiently, and gazebo is much more stable.)

For more detailed Ubuntu O/S installation instructions, see:

• https://github.com/AS4SR/general_info/wiki/Instructions-for-installing-ROS-and-Gazebo!
• https://github.com/cmcghan/vagrant-rss/blob/ubuntu-16.04-xenial/README.md

Note that this and other ROS code does not work on Bash on Ubuntu on Windows for Windows 10, as of 2017-05-18, due to issues with the Linux Subsystem and also the ros_comm library's (mis)handling of TCP/IP errors/warning messages.

Setup consists of installing ros-kinetic-desktop-full on the Ubuntu instance prior to installation/compilation of the hector_quadrotor repository.

Note that if you have not added lines in your .bashrc file to automatically source the ROS system-wide installed packages and your catkin workspace, that you will have to run the following lines before anything else in any terminal you open.

• Assuming that ~/catkin_ws is your workspace directory:

    source /opt/ros/kinetic/setup.bash
    source ~/catkin_ws/devel/setup.bash

Run the original "indoors" tutorial sim via:

• terminal #1:

    roslaunch hector_quadrotor_demo indoor_slam_gazebo.launch

• terminal #2: (link)

    rosservice call /enable_motors true # so the "motors" will respond to `geometry_msgs/Twist` commands to `/cmd_vel`
    rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Run the modified "indoors" tutorial sim via:

• terminal #1:

    roslaunch hector_quadrotor_demo indoor_slam_gazebo_only.launch

• terminal #2:

    rosservice call /enable_motors true # so the "motors" will respond to `geometry_msgs/Twist` commands to `/cmd_vel`
    rosrun teleop_twist_keyboard teleop_twist_keyboard.py

(Note that an alternative to teleop_twist_keyboard is lharikrishnan1993/hector_keyboard_teleop, as mentioned at the ROS wiki site (link).)

Copyright

The original code base is Copyright (c) Institute of Flight Systems and Automatic Control, Technische Universität Darmstadt. See LICENSE.txt for more details. The original github project repository is available at: https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor

Additions and modifications to the code are Copyright (c) University of Cincinnati. See LICENSE-2.txt for more details.

License

LICENSE.txt is the license for the Technische Universität Darmstadt source code.

LICENSE-2.txt is the license for the modifications and additions made to this code base by the AS4SR Lab at the University of Cincinnati.

LICENSE.txt and LICENSE-2.txt are both BSD 3-clause licenses, and should be fully-compatible with each other.

This is free software released under the terms of the BSD 3-Clause License. There is no warranty; not even for merchantability or fitness for a particular purpose. Consult LICENSE.txt and LICENSE-2.txt for copying conditions.

When code is modified or re-distributed, the LICENSE.txt and LICENSE-2.txt files should accompany the code or any subset of it, however small. As an alternative, the LICENSE text can be copied within files, if so desired.

Contact

If you have any questions regarding the contents of this repository, please email Catharine McGhan at cat.mcghan@uc.edu.

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