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Task 0: Installation and Setup

ROS Noetic Installation:

Follow this ROS Wiki link for full ROS Noetic installation: ROS Noetic Installation on Ubuntu 20.04.

General Dependencies:

To use all provided utilities, there are some packages you need to install first. Install the package dependencies given below:

sudo apt install -y \
	ninja-build \
	exiftool \
	python3-empy \
	python3-toml \
	python3-numpy \
	python3-yaml \
	python3-dev \
	python3-pip \
	ninja-build \
	protobuf-compiler \
	libeigen3-dev \
	genromfs \
    libignition-rendering3 \
    xmlstarlet \
    libgstreamer-plugins-base1.0-dev \
    gstreamer1.0-plugins-bad \
    gstreamer1.0-plugins-base \
    gstreamer1.0-plugins-good \
    gstreamer1.0-plugins-ugly

Install the python dependencies given below.

pip3 install \
	pandas \
	jinja2 \
	pyserial \
	cerberus \
	pyulog \
	numpy \
	toml \
	pyquaternion \
    kconfiglib \
    --user packaging \
    --user jsonschema

Remember to remove python 2.7 in case it is installed, otherwise cmake considers it as the default python interpreter.

sudo apt remove python2 && sudo apt autoremove

MAVROS Installation:

MAVROS is a communication node based on MAVLink for ROS that is specially designed for communication between the drone and the companion computer. To install it, follow the following instructions.

sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon -y

Step 1. Create the workspace:

mkdir -p ~/px4_ws/src
cd ~/px4_ws
catkin init
wstool init src

Step 2. Install MAVLink: we use the Kinetic reference for all ROS distros as it’s not distro-specific and up to date

rosinstall_generator --rosdistro noetic mavlink | tee /tmp/mavros.rosinstall

Step 3. Install MAVROS: get source (upstream - released)

rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall

Alternatively, you can get the latest development version:

rosinstall_generator --upstream-development mavros | tee -a /tmp/mavros.rosinstall

Step 4. Create workspace & deps

wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y

Step 5. Install GeographicLib datasets:

sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh

Step 6. Build source

catkin build

Step 7. Make sure that you use setup.bash

source devel/setup.bash

PX4 Firmware Installation:

Clone the PX4 Repository. We will be cloning a particular version for ROS 1 usage:

cd ~/px4_ws/src
git clone --branch=release/1.14 https://github.com/PX4/PX4-Autopilot.git --recursive
cd PX4-Autopilot/
make px4_sitl_default gazebo

Current versions of PX4 require an additional command to function properly. After cloning the PX4 repo and before building the workspace, cd into it

cd ~/px4_ws/src/PX4-Autopilot

and then run

DONT_RUN=1 make px4_sitl_default gazebo

This command enables PX4 to configure itself for working with Gazebo.

Now you should see a window pop out and a drone in the middle of the environment. After verifying, press Control-C in the command line to quit Gazebo and close the window.

PX4 Enviroment:

Build you workspace:

cd ~/px4_ws
catkin build

Some extra tools to install:

pip3 install px4tools pymavlink

Modifying your ‘bashrc’ so that your environment remains the same every time you open a new terminal:

source ~/px4_ws/devel/setup.bash
source ~/px4_ws/src/PX4-Autopilot/Tools/simulation/gazebo/setup_gazebo.bash ~/px4_ws/src/PX4-Autopilot/ ~/px4_ws/src/PX4-Autopilot/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/px4_ws/src/PX4-Autopilot
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/px4_ws/src/PX4-Autopilot/Tools/simulation/gazebo/sitl_gazebo

QGroundControl Installation

QGroundControl (or QGC) is used for a GUI interface for setting paramters, autopilot calibration and GPS view for UAV.

  • On the command prompt enter:
sudo usermod -a -G dialout $USER
sudo apt-get remove modemmanager -y
sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
wget https://s3-us-west-2.amazonaws.com/qgroundcontrol/latest/QGroundControl.AppImage
  • Install (and run) using the terminal commands:
chmod +x QGroundControl.AppImage
./QGroundControl.AppImage