px4 avoidance - Aeroclub-IITM/Plugins_setup GitHub Wiki

This ros node is suppose to run in mission or offboard mode.

After installing px4 sitl with gazebo and ros,

rosdep update

sudo apt install libpcl1 "ros-melodic-octomap-*" For creating a map from point cloud output from sensor.

sudo apt install ros-melodic-stereo-image-proc ros-melodic-image-view

sudo apt install ros-melodic-octomap-msgs

cd ~/catkin_ws/src

git clone https://github.com/PX4/avoidance.git

catkin build -w ~/catkin_ws

cd

cd Firmware

./Tools/setup/ubuntu.sh --no-sim-tools --no-nuttx Run this if you haven't ran yet.

sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev

. ~/Firmware/Tools/setup_gazebo.bash ~/Firmware ~/Firmware/build/px4_sitl_default

Add this path to your zshrc :

export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/catkin_ws/src/avoidance/avoidance/sim/models:~/catkin_ws/src/avoidance/avoidance/sim/worlds

For local planner

• Using stereo camera

roslaunch local_planner local_planner_stereo.launch

To view image stream :

rosrun image_view stereo_view stereo:=/stereo image:=image_rect_color

• Using Depth camera

roslaunch local_planner local_planner_depth-camera.launch

• Using kinect sensors

roslaunch local_planner local_planner_sitl_3cam.launch