RADIO FREQUENCY DETECTOR - DRONE

Introduction

This repository contains my bachelor's degree final project, which final goal is to implement a real drone system that can locate and navigate throught a RF signal.

However, before doing that, the first steps are to simulate properly simple tasks, using Gazebo 11 and ROS Noetic for Ubuntu 20.04 LTS.

The objective is to solve simple problems, in order to scale into more complex behaviors. All these developments are contained here, which is a bitacora where I post week by week all progress.

Installation

Step 1: Install ROS Noetic and Gazebo 11.

• ROS Noetic Desktop Full
• Gazebo 11

At this point this commands should run properly:

roscore & rosrun gazebo_ros gazebo

Step 2: Install JdeRobot drone infrastructure

sudo apt update && sudo apt upgrade -y
sudo apt install ros-noetic-jderobot-drones

Step 3: PX4

1. Download and install Geographiclib

wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
chmod +x install_geographiclib_datasets.sh
sudo ./install_geographiclib_datasets.sh
rm ./install_geographiclib_datasets.sh  # optional

2. Install common dependencies

sudo apt-get update -y
sudo apt-get install git zip qtcreator cmake \
    build-essential genromfs ninja-build exiftool \
    python3-pip python3-dev python-is-python3 -y

3. Get PX4 source (v1.11.3)

mkdir ~/repos && cd repos
git clone --recursive https://github.com/PX4/PX4-Autopilot.git -b v1.11.3

4. Run PX4 installation script

cd ~/repos/PX4-Autopilot/Tools/setup/
bash ubuntu.sh --no-nuttx --no-sim-tools

5. Install gstreamer

sudo apt install libgstreamer1.0-dev
sudo apt install gstreamer1.0-plugins-bad

6. Build PX4

cd ~/repos/PX4-Autopilot
DONT_RUN=1 make px4_sitl gazebo

7. Export environment variables

echo 'export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:~/repos/PX4-Autopilot/build/px4_sitl_default/build_gazebo' >> ~/.bashrc
echo 'export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/repos/PX4-Autopilot/Tools/sitl_gazebo/models' >> ~/.bashrc
echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/repos/PX4-Autopilot/build/px4_sitl_default/build_gazebo' >> ~/.bashrc    
echo 'export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/repos/PX4-Autopilot' >> ~/.bashrc
echo 'export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/repos/PX4-Autopilot/Tools/sitl_gazebo' >> ~/.bashrc
    
source ~/.bashrc

8. (OPTIONAL) Try PX4

roslaunch px4 mavros_posix_sitl.launch
pxh> commander arm # when launching finishes

Step 4: Install workspace

1. Clone and set up workspace

git clone https://github.com/RoboticsLabURJC/2022-tfg-cristian-sanchez.git

2. Environment variables

echo 'export ROS_WORKSPACE=~/2022-tfg-cristian-sanchez' >> ~/.bashrc
source ~/.bashrc

3. Compile

roscd
catkin_make

4. Change default iris model to our custom one

roscd irisdrone_gazebo/models/custom_iris
mv iris.sdf ~/repos/PX4-Autopilot/Tools/sitl_gazebo/models/iris

5. (OPTIONAL) Try it! At this point, you should be able to run the code inside this repository.

roslaunch teleop px4_rc.launch