• 참고 : modulabs.co.kr/board_GDCH80/1886

1. Gazebo 설치

$ sudo apt install ros-melodic-gazebo-ros-pkgs

2. MAVROS 설치

# Install mavros binary packages
$ sudo apt update
$ sudo apt install ros-melodic-mavros ros-melodic-mavros-extras

# Install GeographicLib datasets
$ wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
$ ./install_geographiclib_datasets.sh

3. Pixhawk의 Firmware인 PX4 설치

$ sudo apt update
$ sudo apt install python-argparse git-core wget zip \
       python-empy qtcreator build-essential genromfs -y

# simulation tools
$ sudo apt install ant protobuf-compiler libeigen3-dev libopencv-dev openjdk-8-jdk openjdk-8-jre clang-3.9 lldb-3.6 -y

$ cd ~/catkin_ws/src
$ git clone https://github.com/PX4/Firmware.git
$ cd Firmware
$ git submodule update --init --recursive

4. Iris drone gazebo test

PX4가 설치가 되었다면 PX4안의 iris drone의 model이 들어있고 그 model을 gazebo로 실행시킨다. gazebo안에 iris drone이 보이면 된다.

$ cd ~/catkin_ws/src/Firmware
$ pip3 install numpy toml empy jinja2
$ make px4_sitl_default gazebo

5. Install OFFBOARD modules for the SITL

$ cd ~/catkin_ws/src
$ git clone https://github.com/Jaeyoung-Lim/modudculab_ros.git
$ catkin_make

# setup simulator(gazebo)
$ cd ~/catkin_ws/src/modudculab_ros/launch
$ vi ctrl_pos_gazebo.launch      # fcu_url 지정 : gazebo => udp://:[email protected]:14557, 
                                                 Pixhawk => /dev/ttyAM0:115200

6. Fly drone

$ roscore                                                         # terminal 1
$ cd ~/catkin_ws/src/Firmware && make px4_sitl_default gazebo     # terminal 2 : SITL & smulator
$ roslaunch modudculab_ros ctrl_pos_gazebo.launch   <- WP: mission received 확인  # terminal 3
$ rosrun mavros mavsafety arm                                     # terminal 4 : offboard
$ rosrun mavros mavsys mode -c OFFBOARD                           # terminal 4