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56 lines
1.7 KiB
Markdown
56 lines
1.7 KiB
Markdown
# `clover` ROS package
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A bundle for autonomous navigation and drone control.
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## Manual installation
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Install ROS Noetic according to the [documentation](http://wiki.ros.org/noetic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
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Clone this repo to directory `~/catkin_ws/src/clover`:
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```bash
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cd ~/catkin_ws/src
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git clone https://github.com/CopterExpress/clover.git clover
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```
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All the required ROS packages (including `mavros` and `opencv`) can be installed using `rosdep`:
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```bash
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cd ~/catkin_ws/
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rosdep install -y --from-paths src --ignore-src
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```
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Build ROS packages (on memory constrained platforms you might be going to need to use `-j1` key):
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```bash
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cd ~/catkin_ws
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catkin_make -j1
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```
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To complete `mavros` install you'll need to install `geographiclib` datasets:
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```bash
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curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | sudo bash
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```
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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:
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```bash
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cd ~/catkin_ws/src/clover/clover/udev
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sudo cp 99-px4fmu.rules /lib/udev/rules.d
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```
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Alternatively you may change the `fcu_url` property in `mavros.launch` file to point to your flight controller device.
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## Running
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To start connection to the flight controller, use:
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```bash
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roslaunch clover clover.launch
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```
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For the simulation information see the [corresponding article](https://clover.coex.tech/en/simulation.html).
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> 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`.
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