1. 개발환경 라이브러리 설치(Installing common dependencies)

sudo add-apt-repository ppa:george-edison55/cmake-3.x -y  
sudo apt-get update  
sudo apt-get install python-argparse git-core wget zip  python-empy qtcreator cmake build-essential genromfs -y

2. 시뮬레이션을 위한 라이브러리 설치

sudo apt-get install ant protobuf-compiler libeigen3-dev libopencv-dev clang-3.5 lldb-3.5 -y  
sudo apt-get install openjdk-8-jdk openjdk-8-jre 

3. Ubuntu에 ROS kinetic 설치

• 주요 참고사이트
  • DCU Labs 자료실의 ROS indego 설치(http://www.modulabs.co.kr/board_GDCH80/1562)
  • Dronecode Toolchain Installation > Ubuntu/Debian Linux > ROS/Gazebo

3.1 Setup your sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

3.2 Setup your key

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116

3.3 Installation

sudo apt-get update
sudo apt-get upgrade
sudo apt-get install ros-kinetic-desktop-full 

3.4 Initialize rosdep

sudo rosdep init  
rosdep update  

3.5 Setup environment variables

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc  
source ~/.bashrc  

3.6 Get rosinstall

sudo apt-get install python-rosinstall  

3.7 Make workspace for ROS

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src

3.8 Install dependencies

sudo apt-get install python-wstool python-rosinstall-generator python-catkin-tools -y  
catkin_init_workspace  

3.9 Initialize wstool

wstool init ~/catkin_ws/src

3.10 Build MAVROS

3.10.1 Get source (upstream - released)

rosinstall_generator --upstream mavros | tee /tmp/mavros.rosinstall

3.10.2 Get latest released mavlink package

rosinstall_generator mavlink | tee -a /tmp/mavros.rosinstall

3.10.3 Setup workspace & install deps

wstool merge -t src /tmp/mavros.rosinstall  
wstool update -t src  
rosdep install --from-paths src --ignore-src --rosdistro kinetic -y  

3.11 Build

catkin build

3.12 Re-source environment to reflect new packages/build environment

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc  
source ~/.bashrc

3.13 Test ROS kinetic

3.13.1 open a new terminal

roscore

3.13.2 open a new terminal

rosrun turtlesim turtlesim_node

3.13.3 open a new terminal

rosrun turtlesim turtle_teleop_key

4. Install Gazebo

; already installed by ROS

5. Install Common dependencies

sudo add-apt-repository ppa:george-edison55/cmake-3.x -y  
sudo apt-get update -y  
sudo apt-get install python-argparse git git-core wget zip python-empy qtcreator cmake build-essential genromfs -y  
echo 'required python packages'  
sudo apt-get install python-dev -y  
sudo apt-get install python-pip -y  
sudo -H pip install pandas jinja2  
pip install pyserial  
echo 'optional python tools'  
pip install pyulog  

6. Firmware 다운로드 및 빌드

mkdir -p ~/src/Firmware
cd ~/src/Firmware
git clone https://github.com/PX4/Firmware.git --branch v1.2.0    
make posix_sitl_default  
git submodule update --init --recursive
make posix_sitl_default gazebo  

7. Install Qtcreator

7.1 Install

sudo apt-get install qtcreator  

7.2 Execute

qtcreator