A detailed repository with step-by-step instructions on implementing an autonomous drone:
All algorithms can be simulated on the px4 SITL simulator using Gazebo.
https://github.com/PX4/sitl_gazebo
STEP 1: installation of mavros
Install all dependencies
sudo apt install -y \
ninja-build \
exiftool \
python-argparse \
python-empy \
python-toml \
python-numpy \
python-yaml \
python-dev \
python-pip \
ninja-build \
protobuf-compiler \
libeigen3-dev \
genromfs
pip install \
pandas \
jinja2 \
pyserial \
cerberus \
pyulog \
numpy \
toml \
pyquaternion
- Create a new workspace:
mkdir -p ~/catkin_ws/src
and run the following commands:
cd ~/catkin_ws
catkin init && wstool init src
rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall
rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y
sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh
sudo apt install ros-kinetic-catkin python-catkin-tools
catkin build
cd ~/catkin_ws/src
git clone https://github.com/PX4/Firmware.git
cd Firmware
git checkout v1.8.0
make posix_sitl_default gazebo
- Open a new terminal and type:
sudo gedit ~/.bashrc
- Add the following lines to the file that opens:
source ~/catkin_ws/devel/setup.bash
source ~/catkin_ws/src/Firmware/Tools/setup_gazebo.bash ~/catkin_ws/src/Firmware/ ~/catkin_ws/src/Firmware/build/posix_sitl_default
export ROS_PACKAGE_PATH=ROS_PACKAGE_PATH:~/catkin_ws/src/Firmware
export ROS_PACKAGE_PATH=ROS_PACKAGE_PATH:~/catkin_ws/src/Firmware/Tools/sitl_gazebo
- Create a new workspace and copy the codes into the 'src' directory
- Run the scripts by
cd <workspace_name>
source devel/setup.bash
rosrun <package_name> <script_name.py>
Navigator.py - Path planning, SLAM and stereo camera based obstacle avoidance
A link to the videos showing final results can be found here: https://drive.google.com/drive/u/0/folders/1qhfXiX-CNiFpI8fsTxjDEUSapS3mkc9u