Installation
This section will cover installing ROS as well as the required packages for the project.
Table of contents
Getting ROS
Follow the instructions in one of the links to install the full version of ROS Kinetic or Melodic and make a catkin_ws folder.
Installing the Packages
Clone the hector_quadrotor, hector_localization, hector_models, and hector_gazebo stacks into your ~/catkin_ws/src folder:
# Required for the drone model.
git clone https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor.git
git clone https://github.com/tu-darmstadt-ros-pkg/hector_localization.git
git clone https://github.com/tu-darmstadt-ros-pkg/hector_models.git
git clone https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git
Clone the rrt_exploration package into your ~/catkin_ws/src folder:
# Used for frontier exploration
git clone https://github.com/hasauino/rrt_exploration.git
Install the gmapping, amcl, and move_base packages required for this project:
# Packages for mapping, localization, and navigation, respectively
sudo apt-get install ros-${ROS_DISTRO}-gmapping ros-${ROS_DISTRO}-amcl ros-${ROS_DISTRO}-move-base
Follow these instructions to get google cartographer (ROS Melodic only). Do not forget to source your terminal if using cartographer:
# Run command in every terminal you want to use cartographer in
source install_isolated/setup.bash
You may also need to install these packages (ROS Melodic):
sudo apt-get install ros-melodic-map-server
sudo apt-get install ros-indigo-dwa-local-planner
Getting the Code
Clone this quad_sim package into your ~/catkin_ws/src folder:
# This package contains all the code required for mapping and navigation of the drone.
git clone https://github.com/rumaisaabdulhai/quad_sim.git
Make sure the catkin_ws builds successfully (can also use catkin_make):
cd ~/catkin_ws
catkin build
Don’t forget to source your terminal now, and every time you open a new terminal tab:
source ~/catkin_ws/devel/setup.bash