Real-Sim

1. Introduction

Real-Sim is a Navigation Localisation and Mapping pipeline for Autonomous UAVs. It is based on PX4-Firmware, Mavlink and MavROS. It can be used for integrating your algorithms on a Gazebo Simulation UAV [like IRIS], and directly implement the same on Hardware without any modification to the code.

Status

Work under progress…

2. How to Setup

1. Open the terminal and clone the repository: git clone https://github.com/reyanshsolis/realsim.git
2. Select the script you want to use: Installation Groups: A. Git | terminator | openssh | exFAT utils | tmux | Unzip | Sublime B. ROS Melodic - Full C. Required Dependencies D. Ceres-solver E. librealsense F. ROS Packages for - realsense | VINS - Mono and Fusion | MAVROS | Octomap | Geographiclib G. QGroundControl H. OpenCV I. PCL J. PX4-Firmware

a. ubuntu_freshinstallation_melodic.sh

    This will install groups A. to I. 

b. px4-firmware.sh

    This is install and configure PX4/Firmware

Fresh Installation on Ubuntu 18.04: How to use the scripts To use the scripts:

1. Make the user a member of the group "dialout" (this only has to be done once):
   1. Open a terminal and enter the following command: sudo usermod -a -G dialout $USER
   2. Logout and login again (the change is only made after a new login).
2. make sure you are in the package root directory
3. Run the script in a bash shell (e.g. to run ubuntu_sim.sh): source ubuntu_sim.sh
4. Acknowledge any prompts as the scripts progress.

Permission Setup

Never ever fix permission problems by using sudo. It will create more permission problems in the process and require a system re-installation to fix them.

The user needs to be part of the group "dialout":

sudo usermod -a -G dialout $USER

Then logout and login again (the change is only made after a new login).

3. Launch in Simulation

4. Configure Joy_Node

5. Localisation

5.1 Configure VINS-Fusion

6. Mapping

6.1 Octomap

7. Navigation

8. Running on Hardware