Documentation

How to format and Document your files

We use a document format as proposed here.

Install RotorS on ROS Melodic (please add corrections)

Easiest way

• Download the rotors_installer.sh script from this repo
• Go to the directory where you downloaded the file and enter chmod +x rotors_installer.sh
• Enter ./rotors_installer.sh to only install rotors_simulator or enter ./rotors_installer.sh true to also install the state estimator.

Normal install Process

NOTE: go to cd /opt/ros/melodic/share and sudo apt-get remove ros-melodic-rotors.*. Installation will not work if any rotors packages are preinstalled with ros. Follow the process described here for kinetic.

sudo apt-get update
sudo apt-get install ros-melodic-joy ros-melodic-octomap-ros ros-melodic-mavlink python-wstool python-catkin-tools protobuf-compiler libgoogle-glog-dev ros-melodic-control-toolbox ros-melodic-mavros
sudo rosdep init
rosdep update
source /opt/ros/melodic/setup.bash

Go to cd ~/src

wget https://raw.githubusercontent.com/ethz-asl/rotors_simulator/master/rotors_hil.rosinstall
wstool merge rotors_hil.rosinstall
wstool update

Go to workspace cd ~/catkin_ws

catkin build

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Build ros package to be visible as an eclipse project

• catkin build "package_name" --cmake-args -G "Eclipse CDT4 - Unix Makefiles" -D__cplusplus=201103L -D__GXX_EXPERIMENTAL_CXX0X__=1

Catkin build CMake error related to Eclipse

• check catkin config whether or not Additional CMake Args: none
• If this is not the case then try catkin config --no-cmake-args

.launch files

Paths (for .launch files)

• ROS: cd /opt/ros/melodic/share/
• Gazebo cd /usr/share/gazebo-9

ROS Package best Practices

Please refer to this repo for best practices.

running teleop_twist_keyboard using roslaunch

You can launch teleop_twist_keyboard (or any package for that matter) by including <node name = "some name" pkg = "teleop_twist_keyboard" type = "teleop_twist_keyboard.py"/>. This has the same effect as running rosrun teleop_twist_keyboard teleop_twist_keyboard.py.

Assembling a model with RotorS

.urdf files in ~/catkin_ws/src/rotors_simulator/rotors_description/urdf

Installation UAVCAN Gui

Needed for ESCs Kotleta 20

sudo apt-get install -y python3-pip python3-setuptools python3-wheel
sudo apt-get install -y python3-numpy python3-pyqt5 python3-pyqt5.qtsvg git-core
sudo pip3 install git+https://github.com/UAVCAN/gui_tool@master