Setting up

Welcome to the Drone-visual-servoing-with-a-controller-in-MATLAB wiki!

There're two kinds of setting up:

• One-host configuration: Install Gazebo and MATLAB on the same computer. This method has a higher hardware requirement.

• Two-host configuration: Install Gazebo and MATLAB on different computers.

For either configuration, the following steps need to be followed:

Gazebo side:

• Set up development environment according to http://docs.erlerobotics.com/simulation/configuring_your_environment

• Run the following commands to set up this project:

# Within a catkin directory
cd src
git clone https://github.com/cnpcshangbo/ros_erle_pattern_follower
cd ..; 
catkin_make --pkg ros_erle_pattern_follower

MATLAB side:

• Open Terminal.

• Git clone https://github.com/cnpcshangbo/Drone-visual-servoing-with-a-controller-in-MATLAB.git

• Launch MATLAB.

• Install MATLAB Robotics System Toolbox https://www.mathworks.com/help/robotics/index.html?s_cid=doc_flyout

• Install the package to support custom message type and add the custom message to MATLAB https://www.mathworks.com/matlabcentral/answers/355617-robot-system-toolbox-doesn-t-support-the-message-type-mavros_msgs-positiontarget

• FOTF toolbox: A collection of MATLAB files for fractional calculus and fractional-order control https://www.mathworks.com/matlabcentral/fileexchange/60874-fotf-toolbox