mav_dob's Introduction

mav_dob

Disturbance Observer based trajectory tracking for MAVs

Getting Started

Install PX4 SITL(Only to Simulate)

Follow the instructions as shown in the ROS with Gazebo Simulation PX4 Documentation To check if the necessary environment is setup correctly, you can run the gazebo SITL using the following command

cd <Firmware_directory>
DONT_RUN=1 make px4_sitl_default gazebo

To source the PX4 environment, run the following commands

cd <Firmware_directory>
source ~/catkin_ws/devel/setup.bash    # (optional)
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo

You can run the rest of the roslaunch files in the same terminal

 roslaunch px4 posix_sitl.launch

You will need to source the PX4 environment in every new terminal you open to launch mav_dob.

Installing mav_dob

Create a catkin workspace:

This folder will probably be already created since the previous process would have created it. If it is not present, do:

mkdir -p ~/catkin_ws/src

Clone this repository

cd ~/catkin_ws/src
git clone https://github.com/Jaeyoung-Lim/mav_dob.git

Now continue either with wstool to automatically download dependencies or download them manually.

With wstool

wstool automates the installation of dependencies and updates all packages. If you have no problem updating the packages required by mav_dob and/or any other packages, follow this procedure. If not, follow the next 'Manually Download dependencies and build' section.

cd ~/catkin_ws
wstool merge -t src src/mavros_dob/dependencies.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y --rosdistro $ROS_DISTRO
catkin build
source ~/catkin_ws/devel/setup.bash