CopterExpress/clover
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Move manual installation and running to clover/readme.md

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Oleg Kalachev
2020-04-23 21:19:46 +03:00
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README.md
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@@ -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/<username>/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/<username>/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