From 2b896b06d9ec768e875590e5d8316c9fd6ac94fd Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 23 Apr 2020 21:19:46 +0300 Subject: [PATCH] Move manual installation and running to clover/readme.md --- README.md | 72 ++--------------------------------------------- clover/README.md | 73 ++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 75 insertions(+), 70 deletions(-) create mode 100644 clover/README.md diff --git a/README.md b/README.md index 0ed4a163..1a6ad990 100644 --- a/README.md +++ b/README.md @@ -31,77 +31,9 @@ Image features: * `aruco_pose` package for marker-assisted navigation * `clover` package for autonomous drone control -API description (in Russian) for autonomous flights is available [on GitBook](https://clever.coex.tech/simple_offboard.html). +API description for autonomous flights is available [on GitBook](https://clever.coex.tech/en/simple_offboard.html). -## Manual installation - -Install ROS Melodic according to the [documentation](http://wiki.ros.org/melodic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace). - -Clone this repo to directory `~/catkin_ws/src/clover`: - -```bash -cd ~/catkin_ws/src -git clone https://github.com/CopterExpress/clever.git clover -``` - -All the required ROS packages (including `mavros` and `opencv`) can be installed using `rosdep`: - -```bash -cd ~/catkin_ws/ -rosdep install -y --from-paths src --ignore-src -``` - -Build ROS packages (on memory constrained platforms you might be going to need to use `-j1` key): - -```bash -cd ~/catkin_ws -catkin_make -j1 -``` - -To complete `mavros` install you'll need to install `geographiclib` datasets: - -```bash -curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | sudo bash -``` - -You may optionally install udev rules to provide `/dev/px4fmu` symlink to your PX4-based flight controller connected over USB. Copy `99-px4fmu.rules` to your `/lib/udev/rules.d` folder: - -```bash -cd ~/catkin_ws/src/clover/clover/config -sudo cp 99-px4fmu.rules /lib/udev/rules.d -``` - -Alternatively you may change the `fcu_url` property in `mavros.launch` file to point to your flight controller device. - -## Running - -Enable systemd service `roscore` (if not running): - -```bash -sudo systemctl enable /home//catkin_ws/src/clover/builder/assets/roscore.service -sudo systemctl start roscore -``` - -To start connection to SITL, use: - -```bash -roslaunch clover sitl.launch -``` - -To start connection to the flight controller, use: - -```bash -roslaunch clover clvoer.launch -``` - -> Note that the package is configured to connect to `/dev/px4fmu` by default (see [previous section](#manual-installation)). Install udev rules or specify path to your FCU device in `mavros.launch`. - -Also, you can enable and start the systemd service: - -```bash -sudo systemctl enable /home//catkin_ws/src/clover/deploy/clover.service -sudo systemctl start clover -``` +For manual package installation and running see [`clover` package documentation](blob/master/clover/README.md). ## License diff --git a/clover/README.md b/clover/README.md new file mode 100644 index 00000000..b9f335e7 --- /dev/null +++ b/clover/README.md @@ -0,0 +1,73 @@ +# `clover` ROS package + +A bundle for autonomous navigation and drone control. + +## Manual installation + +Install ROS Melodic according to the [documentation](http://wiki.ros.org/melodic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace). + +Clone this repo to directory `~/catkin_ws/src/clover`: + +```bash +cd ~/catkin_ws/src +git clone https://github.com/CopterExpress/clever.git clover +``` + +All the required ROS packages (including `mavros` and `opencv`) can be installed using `rosdep`: + +```bash +cd ~/catkin_ws/ +rosdep install -y --from-paths src --ignore-src +``` + +Build ROS packages (on memory constrained platforms you might be going to need to use `-j1` key): + +```bash +cd ~/catkin_ws +catkin_make -j1 +``` + +To complete `mavros` install you'll need to install `geographiclib` datasets: + +```bash +curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | sudo bash +``` + +You may optionally install udev rules to provide `/dev/px4fmu` symlink to your PX4-based flight controller connected over USB. Copy `99-px4fmu.rules` to your `/lib/udev/rules.d` folder: + +```bash +cd ~/catkin_ws/src/clover/clover/config +sudo cp 99-px4fmu.rules /lib/udev/rules.d +``` + +Alternatively you may change the `fcu_url` property in `mavros.launch` file to point to your flight controller device. + +## Running + +Enable systemd service `roscore` (if not running): + +```bash +sudo systemctl enable /home//catkin_ws/src/clover/builder/assets/roscore.service +sudo systemctl start roscore +``` + +To start connection to SITL, use: + +```bash +roslaunch clover sitl.launch +``` + +To start connection to the flight controller, use: + +```bash +roslaunch clover clvoer.launch +``` + +> Note that the package is configured to connect to `/dev/px4fmu` by default (see [previous section](#manual-installation)). Install udev rules or specify path to your FCU device in `mavros.launch`. + +Also, you can enable and start the systemd service: + +```bash +sudo systemctl enable /home//catkin_ws/src/clover/deploy/clover.service +sudo systemctl start clover +```