ROS and Gazebo

Ros and Gazebo Installation for Ubuntu 18.04LTS

Installing Ros Melodic

Setup your computer to accept software from packages.ros.org.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Setup your keys

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

Making sure your Debian package is upto-date

sudo apt update
sudo apt upgrade

Install ROS Melodic

sudo apt install ros-melodic-desktop-full

Setting up your Environment

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Installing Dependencies for the packages

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

Install pip, toml, git, jupyter-lab.

sudo apt install git
sudo apt-get install python3-pip
pip install toml
pip3 install jupyterlab

Rosdep

sudo apt install python-rosdep
sudo rosdep init
rosdep update

PX4 and Mavros

4KB

ubuntu_sim_ros_melodic.sh

Download this File in your Home Folder

source ubuntu_sim_ros_melodic.sh

Downloading Firmware

Go to Home Folder to create src.

mkdir src
cd src
git clone https://github.com/PX4/Firmware.git --recursive

Sourcing Gazebo through Bashrc

gedit ~/.bashrc

add the following lines at the end of the bashrc

source ~/sim_ws/devel/setup.bash
source ~/src/Firmware/Tools/setup_gazebo.bash ~/src/Firmware ~/src/Firmware/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/src/Firmware
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/src/Firmware/Tools/sitl_gazebo

Open new Terminal then

cd src/Firmware
make px4_sitl gazebo
#this might open gazebo close it and continue
make px4_sitl_default gazebo
#after this command you should see a drone in the simulator

Simulation Example

mkdir sim_ws
cd sim_ws
mkdir src
catkin_make

#In a new terminal 
cd sim_ws/src
catkin_create_pkg takeoff roscpp mavros geometry_msgs

409B

CMakeLists.txt

CMakeLists.txt

Download the top file and paste it in ~/sim_ws/src/takeoff/(there will be a CMakeLists.txt delete and paste this.

2KB

offb_node.cpp

offb_node.cpp

Download the above file and paste it in ~/sim_ws/src/takeoff/src/

Now open a new terminal

cd sim_ws
catkin_make
source devel/setup.bash

In a new Terminal

roslaunch px4 mavros_posix_sitl.launch
#this will start gazebo

go back to previous terminal and

rosrun takeoff offb_node
#now you will see drone takeoff in the simulator
#if everything is installed correctly

Tutorials for ROS , PX4 Dev Guide.