For deploying the MRS system on real UAV or for UAV simulation, we encourage everyone to familiarize with the following topics.
If you find some information missing, ask us personally or email us to firstname.lastname@example.org.
1. System requirements
Required OS is Ubuntu 18.04 LTS or its flavors that can install ROS Melodic and simulation of UAV in Gazebo 9.
Suggested variant of OS installation is dual boot instead of virtualization that can be slow and can not handle well the simulation GUI.
In case you prefer to not install Ubuntu dual boot, please contact email@example.com for link to download virtual machine with already installed simulation software.
2. Access to MRS UAV system repository (for dual boot option only)
Contact someone from MRS-FEL-CTU (preferably firstname.lastname@example.org) to grant you access to our repository. Please indicate why you need access to the repository in order to grant appropriate user rights.
3. Setting up SSH key for GITLAB (for dual boot option only)
To be able to clone, commit and push changes to repositories on our git you ought to set up ssh keys. Generate new ssh key as
First, make sure to set following parameters in ~/mrs_workspace/src/uav_core/ros_packages/mrs_odometry/config/simulation.yaml in order to fly in GPS mode instead of optic flow.
takeoff_estimator: "GPS"optflow_available: false
and also in ~/mrs_workspace/src/uav_core/ros_packages/mrs_main/config/world_simulation.yaml change following to disable restricted fly area.
Start simulation by executing following script.
The script starts tmux session that contains sequence of commands that spawn UAV into the simulation, take off with the UAV and fly it to the [ 0 , 0 , 5 ] position.
The tmux uses ctrl+a prefix instead of standard ctrl+b prefix.
Load the trajectory by executing following command with *** replaced with the file that contains the trajectory. The trajectory file consists of waypoints x y z yaw, with one waypoint per line with x y z and yaw in this order separated by space. The waypoint are expected to be 0.2 second distant. The current_working_directory parameter of the command is filled with current directory (using pwd/) which is expected to contain the file
Is your drone flying in the simulator?
Continue to how to command the drone page to learn how to control it from withing the terminal.
Polishing your ~/.bashrc file
The ~/.bashrc file, is the main "configuration hub" for your terminal session and for the ROS system as well.
The automatic installation should fill it with the correct stuff, but it might be disorganized.
Please check your .bashrc whether it contains similar content to the one showed in our .bashrc.