reyanshsolis / realsim

Localisation Mapping and Navigation control pipeline for Autonomous UAV, based on PX4 Firmware, Mavlink and MavROS that can be used in SITL mode in Gazebo as well as HIL mode on UAV.

Real-Sim

1. Introduction

Real-Sim is a Navigation Localisation and Mapping pipeline for Autonomous UAVs. It is based on PX4-Firmware, Mavlink and MavROS. It can be used for integrating your algorithms on a Gazebo Simulation UAV [like IRIS], and directly implement the same on Hardware without any modification to the code.

Status

Work under progress…

2. How to Setup

1. Open the terminal and clone the repository: git clone https://github.com/reyanshsolis/realsim.git
2. Select the script you want to use: Installation Groups: A. Git | terminator | openssh | exFAT utils | tmux | Unzip | Sublime B. ROS Melodic - Full C. Required Dependencies D. Ceres-solver E. librealsense F. ROS Packages for - realsense | VINS - Mono and Fusion | MAVROS | Octomap | Geographiclib G. QGroundControl H. OpenCV I. PCL J. PX4-Firmware

a. ubuntu_freshinstallation_melodic.sh

    This will install groups A. to I. 

b. px4-firmware.sh

    This is install and configure PX4/Firmware

Fresh Installation on Ubuntu 18.04: How to use the scripts To use the scripts:

1. Make the user a member of the group "dialout" (this only has to be done once):
   1. Open a terminal and enter the following command: sudo usermod -a -G dialout $USER
   2. Logout and login again (the change is only made after a new login).
2. make sure you are in the package root directory
3. Run the script in a bash shell (e.g. to run ubuntu_sim.sh): source ubuntu_sim.sh
4. Acknowledge any prompts as the scripts progress.

Permission Setup

Never ever fix permission problems by using sudo. It will create more permission problems in the process and require a system re-installation to fix them.

The user needs to be part of the group "dialout":

sudo usermod -a -G dialout $USER

Then logout and login again (the change is only made after a new login).

3. Launch in Simulation

4. Configure Joy_Node

5. Localisation

5.1 Configure VINS-Fusion

6. Mapping

6.1 Octomap

7. Navigation

8. Running on Hardware