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Setup

NOTE: Tested in ubuntu 16.04 and ros-kinetic. For modules that require further development, we recommend to install from source and replace corresponding ROS packages.

1. Install ROS-Kinetic

We recommend installing ros-kinetic-desktop-full from the following address: http://wiki.ros.org/kinetic/Installation/Ubuntu

2. Install Octomap-Server and mavros

sudo apt install python-catkin-tools ros-kinetic-mavlink ros-kinetic-geographic-msgs ros-kinetic-octomap-ros libgeographic-dev geographiclib-tools ros-kinetic-control-toolbox libpopt-dev
cd ~/catkin_ws/src
git clone https://github.com/OctoMap/octomap_mapping.git
git clone https://github.com/mavlink/mavros.git
cd ..
catkin build
source ~/catkin_ws/devel/setup.bash

3. Gazebo

If you followed step 1 and has installed ros-kinetic-desktop-full, you should already have gazebo7 installed. Now install the corresponding ros plugin:

sudo apt install ros-kinetic-gazebo-*

If you would like to use another version of Gazebo, please see http://gazebosim.org/ for different versions of the plugin:

sudo apt install ros-kinetic-<your gazebo version>-*

4. PCL

Install at the following address:

http://www.pointclouds.org/documentation/tutorials/compiling_pcl_posix.php

5. YGZ-slam

Detailed information can be found in the folder: https://github.com/gaoxiang12/ygz-stereo-inertial

6. PX4

NOTE: Tested on px4 v1.8.0

mkdir ~/px4 && cd ~/px4
git clone https://github.com/PX4/Firmware.git
cd Firmware
git checkout v1.8.0

安装

NOTE: 目前只在 Ubuntu 16.04 以及 ros-kinetic 环境下测试通过。如需对 GAAS 进行二次开发,以下安装步骤中所有想要更改的组件源码安装,并在 ROS 的对应接口进行替换即可。

1. 安装 ROS-Kinetic

建议安装 ros-kinetic-desktop-full; 可按照此地址进行安装: http://wiki.ros.org/kinetic/Installation/Ubuntu.

2. 安装 Octomap-Server 以及 mavros

cd ~/catkin_ws/src
git clone https://github.com/OctoMap/octomap_mapping.git
git clone https://github.com/mavlink/mavros.git
cd ..
catkin build
source ~/catkin_ws/devel/setup.bash

3. Gazebo

如果您在第一步安装了 ros-kinetic-desktop-full, 您已经具有了 gazebo7;, 接下来请安装对应 ros plugin:

sudo apt install ros-kinetic-gazebo-*

如果您想使用其他版本的 gazebo, 请参考:http://gazebosim.org/, 并安装对应版本的 ros plugin:

sudo apt install ros-kinetic-<your gazebo version>-*

4. PCL

请参考此链接安装: http://www.pointclouds.org/documentation/tutorials/compiling_pcl_posix.php

5. YGZ-slam

请参考此链接安装: https://github.com/gaoxiang12/ygz-stereo-inertial

6. PX4

NOTE: 仅在 px4 v1.8.0 上进行过测试。

mkdir ~/px4 && cd ~/px4
git clone https://github.com/PX4/Firmware.git
cd Firmware
git checkout v1.8.0
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