morus_uav_gazebo

Repository for developing UAV simulator based on Gazebo.

Installation Instructions

Configure workspace

This instructions consider you have ROS installed. Following dependencies have to be installed before configuring the workspace:

sudo apt-get install python-wstool python-catkin-tools ros-kinetic-octomap-ros ros-kinetic-dynamic-edt-3d libssh2-1-dev unzip libyaml-cpp0.5v5 libblas-dev liblapack-dev

Next, initialize workspace using catkin tools:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
catkin config --extend /opt/ros/kinetic
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
cd ~/catkin_ws
catkin build
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Install required simulation packages

If you don't have git you can install it with: sudo apt-get install git

Next, clone and checkout following packages in src folder:

cd ~/catkin_ws/src
git clone https://github.com/ethz-asl/rotors_simulator.git 
cd rotors_simulator
git checkout 97b3da2d02ab498b0c9d7a15d0297e72fe6b6482
cd ~/catkin_ws/src
git clone https://github.com/ethz-asl/mav_comm.git
cd mav_comm
git checkout de1b6294fa30f2c5fb892831bc86bd7ec8c08d00

Before you build, install following dependencies:

sudo apt-get install libopencv-dev
sudo apt-get install ros-kinetic-joy ros-kinetic-octomap-ros ros-kinetic-mavlink python-wstool python-catkin-tools protobuf-compiler libgoogle-glog-dev ros-kinetic-control-toolbox ros-kinetic-mavros ros-kinetic-effort-controllers ros-kinetic-position-controllers ros-kinetic-robot-controllers ros-kinetic-joint-state-controller ros-kinetic-controller-manager ros-kinetic-gazebo-ros-control ros-kinetic-hector-gazebo-plugins
catkin build

Finally, clone morus_uav_gazebo repository using git lfs:

sudo apt-get install curl
curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash
sudo apt-get install git-lfs
git lfs install
cd ~/catkin_ws/src
git clone https://github.com/larics/morus_uav_ros_msgs.git
git clone https://github.com/larics/morus_uav_gazebo.git
catkin build

Running Simulation

You can run the simulation with detailed morus uav model by running following command:

roslaunch morus_gazebo morus_vpcmmc_attitude_height_control.launch

If the simulation slows down your computer, you can run the simulation with alternative mesh file (simple box):

roslaunch morus_gazebo morus_vpcmmc_attitude_height_control.launch uav_mesh_file:=box.dae