Installation Instructions

Install ROS Melodic (ros-desktop-full)

Follow the installation guide of ROS Melodic from here.
Make sure to follow all the steps described there.

Install catkin_tools

sudo apt update
sudo apt install python-catkin-tools

mkdir -p catkin_ws/src
cd catkin_ws/
wstool init src

Setup ROS workspace

Update .rosinstall

cd ~/catkin_ws/src
gedit .rosinstall

Paste the following:

- git:
    local-name: px4
    uri: https://github.com/danielduberg/Firmware.git
    version: v1.8.2.1

- git:
    local-name: stl_aep
    uri: https://github.com/danielduberg/STL-AEP.git
    version: master

- git:
    local-name: catkin_simple
    uri: https://github.com/catkin/catkin_simple.git
    version: master

- git:
    local-name: octomap_mapping
    uri: https://github.com/OctoMap/octomap_mapping.git
    version: melodic-devel

- git:
    local-name: rpl_uav
    uri: https://github.com/danielduberg/rpl_uav.git
    version: master

- git:
    local-name: dd_gazebo_plugins
    uri: https://github.com/danielduberg/dd_gazebo_plugins.git
    version: master

- git:
    local-name: dd_control
    uri: https://github.com/danielduberg/dd_control.git
    version: master

- git:
    local-name: dd_nav_goal
    uri: https://github.com/danielduberg/dd_nav_goal.git
    version: master

Then continue the installation:

wstool update
cd ..
rosdep install --from-paths src --ignore-src -r -y
sudo apt install ros-melodic-octomap-*
sudo apt-get install cmake python-pip python-rosinstall python-rosinstall-generator python-wstool
sudo apt-get install build-essential python-catkin-tools libprotobuf-dev libprotoc-dev protobuf-compiler
sudo apt-get install libeigen3-dev libgstreamer1.0-* libimage-exiftool-perl python-jinja2 libgeographic-dev geographiclib-tools ros-melodic-mav*
pip install numpy toml future
cd ~/catkin_ws
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
chmod +x install_geographiclib_datasets.sh
sudo ./install_geographiclib_datasets.sh

Add this to your .bashrc file found at ~/.bashrc:

# Set the plugin path so Gazebo finds our model and sim export
export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/catkin_ws/src/px4/build/posix_sitl_default/build_gazebo
# Set the model path so Gazebo finds the airframes
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/catkin_ws/src/px4/Tools/sitl_gazebo/models:~/catkin_ws/src/rpl_uav/simulation/models
# Set path to sitl_gazebo repository
export SITL_GAZEBO_PATH=~/catkin_ws/src/px4/Tools/sitl_gazebo
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:~/catkin_ws/src/px4/Tools/sitl_gazebo/Build/msgs/:~/catkin_ws/src/px4/build/posix_sitl_default/build_gazebo
# So ROS finds these packages
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/catkin_ws/src/px4:~/catkin_ws/src/px4/Tools/sitl_gazebo

Build the UAV

cd ~/catkin_ws/src/px4
make posix_sitl_default gazebo

Build workspace

cd ~/catkin_ws/
catkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
catkin build