Readme.md

Pre-requisite

• Ubuntu 16.04 LTS
• ROS Kinetic
• Assuming you use catkin build system
• Gazebo 7.14
  • You can use this script here:
  1. Download or save it somewhere
  2. Go to the location that you saved it
  3. source ubuntu_sim_ros_gazebo.sh

OpenUAV

This simulation is based on OpenUAV project.

1. In your home directory create a src folder by typing mkdir src in your terminal
2. cd src
3. Clone all git repositories in OpenUAV to this folder by git clone command
4. Go to the Firmware repository by typing cd Firmware
5. source setup-install.sh (press Return to continue when asked)
6. When it finishes, type make posix_sitl_default
7. Then try to run Gazebo by typing gazebo in your terminal
8. Connect the sitl_gazebo folder with your catkin_ws/src folder by typing sudo ln -s ~/sitl_gazebo ~/catkin_ws/src in your terminal
9. Connect the src/Firmware folder with your catkin_ws/src folder by typing sudo ln -s ~/src/Firmware ~/catkin_ws/src in your terminal
10. Go to your catkin_ws/src folder (cd ~/catkin_ws/src) and build it by typing catkin build in the terminal.
11. source devel/setup.bash
12. Copy and paste this into your terminal roscd; cd ..; cd src/Firmware make posix_sitl_default source ~/catkin_ws/devel/setup.bash source Tools/setup_gazebo.bash $(pwd) $(pwd)/build_posix_sitl_default export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd) export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo roslaunch px4 posix_sitl.launch roslaunch mavros px4.launch fcu_url:="udp://:14550@127.0.0.1:14557"

FAQ

If after making posix_sitl, Gazebo doesn’t launch and gives you a error message regarding geographiclib

Do the following:

• In your terminal type: sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras
• When that installation is ready type:
• wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
• ./install_geographiclib_datasets.sh (you might have to make the install_geographiclib_datasets.sh executable.)