Installation

Clone the repo:

git clone https://github.com/gtu-ros/drone_ws.git

or

git clone https://<oauth-key-goes-here>@github.com/gtu-ros/drone_ws.git

Initialize the drone workspace:

cd ~/drone_ws
catkin init

Build workspace

cd ~/drone_ws
catkin build

Add setup.bash to your .bashrc

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

Update global variables

source ~/.bashrc

You can read ROS_Guides folder ROS Noetic guides.

This repo was clonned from https://github.com/erhangk/ROS_Guides.git

Installing gazebo tools

Gazebosim link:

http://models.gazebosim.org/

Gazebo camera plugin guides:

https://classic.gazebosim.org/tutorials?tut=ros_gzplugins

https://answers.ros.org/question/210695/adding-a-camera-to-a-model-in-gazebo-beginner/

Edit .bashrc

Your .bashrc file should look like this:

alias start_ardupilot='./start_ardupilot.sh'
alias start_gazebo='gazebo --verbose worlds/iris_arducopter_runway.world'
alias start_rosgazebo='roslaunch ardupilot_gazebo iris_with_roscam.launch'

source /opt/ros/noetic/setup.bash
source ~/drone_ws/devel/setup.bash

export PATH=$PATH:$HOME/ardupilot/Tools/autotest
export PATH=/usr/lib/ccache:$PATH
source /usr/share/gazebo/setup.sh
export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models

GAZEBO_MODEL_PATH=~/drone_ws/src/ardupilot_gazebo/models

Running Simulation

roslaunch ardupilot_gazebo iris_with_roscam.launch

Check if camera topics are being published:

rostopic list

You should see something like this:

erhangk@erhan-Acer:~$ rostopic list
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/performance_metrics
/gazebo/set_link_state
/gazebo/set_model_state
/roscam/cam/camera_info
/roscam/cam/image_raw
/roscam/cam/image_raw/compressed
/roscam/cam/image_raw/compressed/parameter_descriptions
/roscam/cam/image_raw/compressed/parameter_updates
/roscam/cam/image_raw/compressedDepth
/roscam/cam/image_raw/compressedDepth/parameter_descriptions
/roscam/cam/image_raw/compressedDepth/parameter_updates
/roscam/cam/image_raw/theora
/roscam/cam/image_raw/theora/parameter_descriptions
/roscam/cam/image_raw/theora/parameter_updates
/roscam/cam/parameter_descriptions
/roscam/cam/parameter_updates
/rosout
/rosout_agg

It must be installed with "pip3 installed imagemagick" because of using generate_marker_model.py

In order to avoid conflict between MAVROS and Dronekit, instance of start_ardupilot.sh should be like this:

cd ~/ardupilot/ArduCopter ../Tools/autotest/sim_vehicle.py -f gazebo-iris --console --map --out=udp:127.0.0.1:14551

If you are not going to use MAVROS you can use this:

cd ~/ardupilot/ArduCopter ../Tools/autotest/sim_vehicle.py -f gazebo-iris --console --map