installing_ros.md

Install ROS and Setup Catkin

Video Tutorial at https://youtu.be/EmIjedzHwzI

In this tutorial we are using Ubuntu 18.04 and ROS Melodic

Code blocks are meant to be typed in Terminal windows. "Control+Alt+T" opens a new Terminal window.

1. Install ROS

• Do Desktop-full Install
• Follow until Step 1.7 at the end of the page

First, install ROS Melodic using the following instructions: http://wiki.ros.org/melodic/Installation/Ubuntu

2. Set Up Catkin workspace

We use catkin build instead of catkin_make. Please install the following:

sudo apt-get install python-wstool python-rosinstall-generator python-catkin-tools

Then, initialize the catkin workspace:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init

3. Dependencies installation

Install mavros and mavlink from source:

cd ~/catkin_ws
wstool init ~/catkin_ws/src

rosinstall_generator --upstream mavros | tee /tmp/mavros.rosinstall
rosinstall_generator mavlink | tee -a /tmp/mavros.rosinstall
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src
rosdep install --from-paths src --ignore-src --rosdistro `echo $ROS_DISTRO` -y

catkin build

Add a line to end of ~/.bashrc by running the following command:

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

update global variables

source ~/.bashrc

install geographiclib dependancy

sudo ~/catkin_ws/src/mavros/mavros/scripts/install_geographiclib_datasets.sh

4. Clone IQ Simulation ROS package

cd ~/catkin_ws/src
git clone https://github.com/Intelligent-Quads/iq_sim.git

Our repository should now be copied to ~/catkin_ws/src/iq_sim/ (don't run this line. This is just saying that if you browse in the file manager, you will see those folders).

5. Build instructions

Inside catkin_ws, run catkin build:

cd ~/catkin_ws
catkin build

update global variables

source ~/.bashrc