The system has been tested with Ubuntu 20.04 (ROS Noetic) and Ubuntu 18.04 (ROS Melodic). For Ubuntu 16.04 (ROS Kinetic) switch to ubuntu_16_04_kinetic branch.
Follow the tutorials to install ROS Noetic for 20.04 or ROS Melodic for 18.04 (desktop-full) and to set up catkin workspace.
Install dependencies. For Ubuntu 20.04 (ROS Noetic):
sudo apt-get install git python python3-matplotlib python3-numpy libeigen3-dev libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev protobuf-compiler libnlopt-dev libnlopt-cxx-dev ros-noetic-octomap ros-noetic-octomap-ros ros-noetic-octomap-msgs ros-noetic-tf-conversions ros-noetic-eigen-conversions
For Ubuntu 18.04 (ROS Melodic):
sudo apt-get install git python3-matplotlib python3-numpy libeigen3-dev libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev protobuf-compiler libnlopt-dev ros-melodic-octomap ros-melodic-octomap-ros ros-melodic-octomap-msgs ros-melodic-tf-conversions ros-melodic-eigen-conversions
Navigate to the source folder of your catkin workspace, download and build the software:
cd ~/catkin_ws/src
git clone https://github.com/B-Bhanu-Teja/Ewok-Planner.git
Add camera link name and point cloud topic name Appropriate comments are provided where to add
cd ~/catkin_ws/src/ewok_simulation/src/
gedit trajectory_replanning_example_pointCloud.cpp
cd ../..
catkin_make
Step 1: Download QGC to Control the Drone
Step 2: In PX4-Autopilot/launch/mavros_posix_sitl.launch change sdf file of vehicle model by removing the previous line and adding below line
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_depth_camera/iris_depth_camera.sdf"/>
In terminal 1 start px4 Autopilot
cd PX4-Autopilot/
source ~/catkin_ws/devel/setup.bash
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
roslaunch px4 mavros_posix_sitl.launchIn same terminal type
commander takeoffcd catkin_ws/
source devel/setup.bash
roslaunch ewok_simulation trajectory_replanning_rishabh.launchIn QGC change Flight mode to offboard mode
To change the waypoints edit this file trajectory_replanning_rishabh.launch
<arg name="start_x" value="0.0"/>
<arg name="start_y" value="0.0"/>
<arg name="start_z" value="1"/>
<arg name="start_yaw" value="$(eval -pi/4)"/>
<arg name="middle_x" value="0.0"/>
<arg name="middle_y" value="0.0"/>
<arg name="middle_z" value="1"/>
<arg name="middle_yaw" value="$(eval -pi/4)"/>
<arg name="stop_x" value="17.6"/>
<arg name="stop_y" value="5.06"/>
<arg name="stop_z" value="1.0"/>
<arg name="stop_yaw" value="$(eval -pi/4)"/>
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