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Setup.md
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ninawrong   Create Setup.md 2019-05-16
## SetupNOTE: Tested in ubuntu 16.04 and ros-kinetic. For modules that require further development, we recommend to install from source and replace corresponding ROS packages.### 1. Install ROS-KineticWe recommend installing ros-kinetic-desktop-full from the following address:    http://wiki.ros.org/kinetic/Installation/Ubuntu### 2. Install Octomap-Server and mavros    sudo apt install python-catkin-tools ros-kinetic-mavlink ros-kinetic-geographic-msgs ros-kinetic-octomap-ros libgeographic-dev geographiclib-tools ros-kinetic-control-toolbox libpopt-dev    cd ~/catkin_ws/src    git clone https://github.com/OctoMap/octomap_mapping.git    git clone https://github.com/mavlink/mavros.git    cd ..    catkin build    source ~/catkin_ws/devel/setup.bash### 3. GazeboIf you followed step 1 and has installed ros-kinetic-desktop-full, you should already have gazebo7 installed. Now install the corresponding ros plugin:        sudo apt install ros-kinetic-gazebo-*    If you would like to use another version of Gazebo, please see http://gazebosim.org/ for different versions of the plugin:        sudo apt install ros-kinetic-<your gazebo version>-*### 4. PCLInstall at the following address:        http://www.pointclouds.org/documentation/tutorials/compiling_pcl_posix.php### 5. YGZ-slamDetailed information can be found in the folder: https://github.com/gaoxiang12/ygz-stereo-inertial### 6. PX4NOTE: Tested on px4 v1.8.0        mkdir ~/px4 && cd ~/px4    git clone https://github.com/PX4/Firmware.git    cd Firmware    git checkout v1.8.0        -----## 安装
ninawrong   Update Setup.md 2019-05-16
NOTE: 目前只在 Ubuntu 16.04 以及 ros-kinetic 环境下测试通过。如需对 GAAS 进行二次开发,以下安装步骤中所有想要更改的组件源码安装,并在 ROS 的对应接口进行替换即可。
ninawrong   Create Setup.md 2019-05-16
### 1. 安装 ROS-Kinetic建议安装 ros-kinetic-desktop-full; 可按照此地址进行安装:	http://wiki.ros.org/kinetic/Installation/Ubuntu.### 2. 安装 Octomap-Server 以及 mavros	cd ~/catkin_ws/src	git clone https://github.com/OctoMap/octomap_mapping.git	git clone https://github.com/mavlink/mavros.git	cd ..	catkin build	source ~/catkin_ws/devel/setup.bash### 3. Gazebo如果您在第一步安装了 ros-kinetic-desktop-full, 您已经具有了 gazebo7;, 接下来请安装对应 ros plugin:	sudo apt install ros-kinetic-gazebo-*如果您想使用其他版本的 gazebo, 请参考:http://gazebosim.org/, 并安装对应版本的 ros plugin:	sudo apt install ros-kinetic-<your gazebo version>-*### 4. PCL请参考此链接安装:	http://www.pointclouds.org/documentation/tutorials/compiling_pcl_posix.php### 5. YGZ-slam请参考此链接安装:	https://github.com/gaoxiang12/ygz-stereo-inertial### 6. PX4NOTE:  仅在 px4 v1.8.0 上进行过测试。        mkdir ~/px4 && cd ~/px4    git clone https://github.com/PX4/Firmware.git    cd Firmware    git checkout v1.8.0