Program for a warehouse maintainance (Tilt) Quadrotor.
Installtion itself is largely trivial, you just need to do clone this repo inside the source of you catkin workspace and build. Steps might look like :
cd ~/catkin_ws/src
git clone http://github.com/harshsinh/warehouse-quad.git
cd ~/catkin_ws
catkin_make
Make sure have the following dependencies satisfied.
- ROS : Robot Operating System
For Installing ROS refer ROS Installation Guide. Preferably installROS-desktop-full
, otherwise make sure all relevant packages are installed. - Mavros : ROS communication driver for various autopilots with MAVLink communication protocol.
Runsudo apt-get install ros-kinetic-mavros
andsudo apt-get install ros-kinetic-mavros-extras
- px4flow_node : This package parses the MAVLINK messages from the PX4Flow optical flow board, and converts them to ROS messages before publishing them.
Refer to the guide on the link for installing this. - Zbar : An open source Bar Code and QR Code Reader.
Runsudo apt-get install libzbar-dev
from commandline or install from source following instructions from the above link. - Eigen3 : Eigen is a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.
Runsudo apt-get install libeigen3-dev
from command line or to install from source use the instructions from the link - CV Bridge : converts between ROS Image messages and OpenCV images.
Runsudo apt-get install ros-kinetic-cv-bridge
- Image transport : For subscribing and publishing images as ROS message.
Runsudo apt-get install ros-kinetic-image-transport
Note We implemented this system on ROS Kinetic, so all the instructions are for installing ROS Kinetic packages, though feel free to replace the -kinetic
with whatever your ROS distro might be.