RM-ICS20 Repository

Git Repository for use with Intelligent Collaborative System Design Elective at SDU (spring semester 2020)

Maintainer: Oscar Bowen Schofield (obs@mmmi.sdu.dk)

Each Folder has its own respective README.md, be sure to check them out before asking questions.

Dependencies and Recommended Software

Ensure the following are installed:

• Ubuntu 16.04/ 18.04 (18.04 recommended)
• ROS Melodic/Kinetic (Melodic recommended)
• PX4 Firmware (V1.8.2 recommended)
• MAVROS
• python-utm
• QGroundControl (for debugging)
• terminator (recommended terminal package, not explicitly required)

Getting started

Prerequisite

Make sure you have followed the PX4 toolchain installation before continuing.

Clone the PX4 Firmware and build the Gazebo-SITL configuration

If the firmware builds and runs correctly, you should be able to run commander takeoff within the psh shell, causing the UAV to take off, then land.

Recommended Folder Structure

.
+-- PX4 Firmware
+-- catkin_workspace
|   +-- startupScripts
|   +-- src
|   |   +-- RM-ICS20 Repository
|   |   +-- **Additional nodes**

Simulation Asset installation

Running Autonomy framework system

You will need four terminals to operate the system (may need more for development)

1. PX4/Simulation window

   cd catkin_workspace/startupScripts
   ./px4_launch_gazebo.sh

2. MAVROS Window

    cd catkin_workspace/startupScripts
    ./launch_mavROS.sh

If successful, the below text should be visible in the terminal

3. droneFramework Window

    cd catkin_workspace
    catkin build
    source devel/setup.bash
    roslaunch root_framework D4E_auto.launch

4. User Input Window

This Assumes catkin_workspace has been previously built

    cd catkin_workspace
    source devel/setup.bash
    rosrun root_framework keypressNode.py