https://github.com/roboticsclubiitj/drone_ros

This repo contains all packages for hector drone navigation
https://github.com/roboticsclubiitj/drone_ros

gazebo hacktoberfest moveit navigation ros ros-melodic

Last synced: 8 days ago
JSON representation

This repo contains all packages for hector drone navigation

• Host: GitHub
• URL: https://github.com/roboticsclubiitj/drone_ros
• Owner: RoboticsClubIITJ
• Created: 2020-08-24T17:53:02.000Z (over 4 years ago)
• Default Branch: master
• Last Pushed: 2020-10-02T14:12:48.000Z (over 4 years ago)
• Last Synced: 2024-11-11T22:14:51.199Z (2 months ago)
• Topics: gazebo, hacktoberfest, moveit, navigation, ros, ros-melodic
• Language: C++
• Homepage:
• Size: 2.27 MB
• Stars: 1
• Watchers: 1
• Forks: 2
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • Changelog: changed files/Instructions

Awesome Lists containing this project

README

        

# drone_ros

This is the tutorial for setting-up a drone in an evironment with all its packages in ROS.

## Prerequisites

- ROS Melodic /Kinetic /Hydro

- Gazebo 8 or higher

- Rviz

- Existing catkin_ws

---

## 1) Setup

### 1.1

### 1.2 Alternative setup 

(Try this only if 1.1 does not work out for you)

- First delete all the residual drone packages that you cloned in 1.1

- Clone all the packages stated below in the src folder in your catkin_ws

```bash

$ cd catkin_ws/src

$ git clone https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor.git

$ git clone https://github.com/tu-darmstadt-ros-pkg/hector_localization.git

$ git clone https://github.com/tu-darmstadt-ros-pkg/hector_models.git

$ git clone https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git

```

- Compile the catkin_ws to build all the packages

```bash

$ cd catkin_ws

$ catkin_make

```

## 2) Launch environment

For a smooth interface launch only one of these environments at a time

- For outdoor navigation

```bash

$  roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch

```

- For indoor navigation

```bash

$  roslaunch hector_quadrotor_demo indoor_slam_gazebo.launch

```

## 3) Enable motors

This step can be skipped for most systems. But for the few exceptions, you have to manually turn on the motors for the flight simulation.

```bash

$  rosservice call /enable_motors "enable: true"

```

## 4) Launch teleoperation

For navigation of the drone through terminal input, in a separate terminal enter

```bash

$  rosrun teleop_twist_keyboard teleop_twist_keyboard.py

```