PFE

Summary

The Makefile of this project automates the installation and execution of ROS2, Gazebo, Tello, Husky, and FaMe environments.
It handles cloning, setup, build, and launch of all related projects.

1. Default usage
2. Tello
3. Husky A300
4. FaMe
5. Links

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Default usage

To install the whole environment (ROS, Gazebo, dependencies, packages):

make

This initializes ~/PFE, clones submodules, and installs required dependencies.

For more detailed explanations, see README_eng.md or README_fr.md. But beware that everything might not work completely as everything was made from scratch and had some modifications at some points.

Ubuntu 24.04

Use ROS2 Jazzy and Gazebo Harmonic:

make apt_install

Ubuntu 20.04 (Legacy)

Uses ROS2 Foxy and Gazebo Classic:

make install_all

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Tello

Setup

Prepare dependencies and build:

make setup_ros2_shared
make setup_tello_msgs
make setup_tello

Launch

ROS2 Tello nodes

make launch_tello_controller

Control via joystick (SDK)

python3 ../PFE/tello_SDK/control_manette.py
# or
python3 ../PFE/tello_SDK/control_manette_multiple.py

Gazebo simulation

Tello-related simulation can be launched through FaMe simulation (see below).

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Husky A300

Setup

Clone and build the Husky workspace:

make clone_husky_2004
make setup_husky

Reinstall from scratch

make clear_husky
make setup_husky

Launch example

make launch_FaMe_husky

Reinstalling the OS for the Husky A300

if there is any issue with the Husky A300 that need to reinstall the OS of the Husky, refer to this file InstallHuskyA300.md.

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FaMe

FaMe is the core multi-robot and agricultural simulation framework.

Setup

make setup_FaMe
make setup_FaMe_engine
make setup_FaMe_agricultural
make setup_FaMe_simulation

Launch

Example

make launch_example

Engine or Simulation

make FaMe_engine_example
make FaMe_simulation_multi

Agricultural

make FaMe_agricultural_multi
make launch_comportement_agri

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Prerequisites

• Ubuntu 20.04 or 24.04
• sudo privileges
• Internet connection
• ~15 GB free disk space
• Recommended hardware: 4+ cores, 16 GB RAM, GPU for Gazebo

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Links

• FaMe repository: https://bitbucket.org/proslabteam/fame/src/master/
• Tello ROS messages: https://github.com/clydemcqueen/tello_ros
• ROS2 Shared: https://github.com/ptrmu/ros2_shared