This repository has been tested with:
Ubuntu 16.04
ROS Kinetic (Desktop full installation)
catkin tools
catkin simple
OctoMap
it might work with other setups, but no guarantees are given.
- You are running
Ubuntu 16.04
- You are using bash, zsh is also possible with some modifications.
- You have
ros-kinetic-desktop-installed
, otherwise follow installation instructions here - You have created a workspace in
~/catkin_ws
, without runningcatkin_make
. If in another location these things need to be modified. - You have installed
catkin tools
-
You have installed
octomap
if not install it by runningsudo apt-get install "ros-kinetic-octomap-*"
or install from source. -
Catkin simple is needed to build the rtree package
cd ~/catkin_ws/src
git clone https://github.com/catkin/catkin_simple.git
- PIGain depends on rtree which in turn needs libspatialindex (note this rtree is different from the one above).
pip install rtree
sudo apt-get install libspatialindex-dev
If you do not already have a workspace, set up a new one.
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
catkin build
Clone this package (make sure that you are in catkin_ws/src)
cd ~/catkin_ws/src/
git clone https://github.com/mseln/aeplanner.git
cd ..
catkin build
To run the example directly without having to integrate the interface, the kth uav simulation package can be installed, see:
https://github.com/danielduberg/kth_uav
Read the Assumptions and follow the install instructions on that page.
If you get couldn't find python module jinja2:
install jinja2 by running:
sudo apt-get install python-jinja2
If you get No rule to make target '/home/rpl/catkin_ws/src/kth_uav/Firmware/Tools/sitl_gazebo/PROTOBUF_PROTOC_EXECUTABLE-NOTFOUND', needed by 'Groundtruth.pb.cc'. Stop.
, install libprotobuf by running:
sudo apt-get install protobuf-compiler
If you get ImportError: No module named future
install it by running:
pip install future
If you get Could not find a package configuration file provided by "geographic_msgs" with any of the following names:
install it by running:
sudo apt-get install ros-kinetic-geographic-msgs
If you get Could NOT find GeographicLib (missing: GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS)
fix it by installing:
sudo apt-get install libgeographic-dev
If gazebo is complaining about GeographicLib exception: File not readable /usr/share/GeographicLib/geoids/egm96-5.pgm
, install geographiclib-tools
and run the install script again.
sudo apt-get install geographiclib-tools
sudo ./kth_uav/mavros/mavros/scripts/install_geographiclib_datasets.sh
When running roslaunch simulation simulation.launch
if you get Arg xml is <arg default="$(find mavlink_sitl_gazebo)/worlds/empty.world" name="world"/>
fix it by changing line 14 and 15 in kth_uav/Firmware/launch/mavros_posix_sitl.launch
to
<arg name="world"/>
<arg name="sdf"/>
do the same with line in file 12 and 13 kth_uav/Firmware/launch/posix_sitl.launch
.