Open Danealor opened 2 years ago
For the installation in our own already created environments, I followed the native build instructions on their website. In fact, it seems that just last week they updated that page from Ubuntu 18.04 to instructions for ROS Noetic in Ubuntu 20.04, so that's quite lucky!
Following those new instructions, I was able to build Clover and PX4 and simulate the drone like the above post, right inside of our existing workspace.
A few notes for the installation:
sudo apt-get upgrade
in order to update a library that I had installed through the previous instructions, though that may not be necessary anymore.~/catkin_ws/src
to that directory, to have it picked up by catkin. I at first chose to clone it into /usr/lib
as per the previous instructions, but that caused some permissions problems and I eventually moved it to the home directory after some troubleshooting. If that happens:
~/catkin_ws/src/build
directory would have to be deleted so that catkin can remake it and link to the new directory.configure_file Problem configuring file
error comes up, run sudo chmod a+w ~/catkin_ws/src/PX4-Autopilot/.vscode
to fix it.
sudo chmod -R a+w ~/catkin_ws/src/sitl_gazebo
After playing a bit with the COEX Pix simulation, I wanted to post here to help others start out. I've tried the native installation but I've still not ironed out all the errors, so I'll be using the virtualbox method in this post. I may post here again once I figured out native installation.
The instructions for the virtualbox installation were taken from their website.
First, download the virtualbox
.ova
here. Note that it is 5.5GB so ensure that you have ample download speed/time and disk space.Then, open VirtualBox and import the application as you did with the class VM. In the settings:
Boot the virtual machine. Username:
clover
Password:clover
To finish installing the guest additions:
sudo ./autorun.sh
To set the display resolution:
To run:
catkin_make
in~/catkin_ws
roslaunch clover_simulation simulation.launch
rqt_graph
to see the node graphGet position:
rostopic echo -n 1 /mavros/local_position/pose
To test simple flight:
Programming: The
simple_offboard
node is a high-level navigation and telemetry node that simplifies all the programming into a few easy to use services.rosnode info simple_offboard
/mavros
rosservice type /navigate | rossrv show
rosservice call /navigate 0.0 0.0 1.5 0.0 0.0 0.5 body true
rosservice call /navigate 2.0 2.0 1.5 0.0 0.0 1.0 map true
rosservice call /land