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How to build and install grvc ual

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franreal edited this page Apr 21, 2017 · 31 revisions

There are no binary distributions for grvc-ual, so you need to download the source and build it yourself. In order to use grvc-ual, you need a working installation of ROS Kinetic. Refer to this site for installing it. All development is tested in Ubuntu 16.04.

Building in Linux

Installing dependencies

Before you can actually install the project, you need to install the following dependencies.

  • Mavros for the back end communication with Pixhawk:

    $ sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras

  • If you want to use the joystick:

    $ sudo apt-get install ros-kinetic-joy

Creating your workspace

The first thing you need for this is a catkin workspace. If you already have a workspace you wish to use to build the packages, skip to "Downloading the source". If not, follow the instructions in Create a ROS Workspace.

We will assume you are creating your workspace in the ~/catkin_ws folder.

Downloading the source

The grvc-ual repository contains a folder with a set of packages. These packages need to reside in the src folder of your catkin workspace. You will also need packages from grvc-utils. To clone the repositories into the right place:

$ cd ~/catkin_ws/src
$ git clone https://github.com/grvcTeam/grvc-utils.git
$ git clone https://github.com/grvcTeam/grvc-ual.git

Support simulation and SITL

If you intend to use software in the loop with PX4 (for example, to simulate in gazebo), you also need the PX4 repository. To clone it with all its submodules:

$ cd ~/catkin_ws/src
$ git clone --recursive https://github.com/PX4/Firmware.git

Go to http://dev.px4.io/starting-installing-linux.html#installation and follow the section Installation instructions

Build your directory, and the PX4 firmware for sitl

$ cd ~/catkin_ws/src 
$ catkin_make
$ cd src/Firmware
$ make
$ make posix_sitl_default gazebo
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