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:


Download or save it somewhere
Go to the location that you saved it
source ubuntu_sim_ros_gazebo.sh


OpenUAV
This simulation is based on OpenUAV project.

In your home directory create a src folder by typing mkdir src in your terminal
cd src
Clone all git repositories in OpenUAV to this folder by git clone command
Go to the Firmware repository by typing cd Firmware


source setup-install.sh (press Return to continue when asked)
When it finishes, type make posix_sitl_default

Then try to run Gazebo by typing gazebo in your terminal
Connect the sitl_gazebo folder with your catkin_ws/src folder by typing sudo ln -s ~/sitl_gazebo  ~/catkin_ws/src in your terminal
Connect the src/Firmware folder with your catkin_ws/src folder by typing sudo ln -s ~/src/Firmware ~/catkin_ws/src in your terminal
Go to your catkin_ws/src folder (cd ~/catkin_ws/src) and build it by typing catkin build in the terminal.
source devel/setup.bash
Now do the folliwing to configure your ROS environment
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.)