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SETUP.md

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FANS : Setup and dependencies

Following are the main OS/software/frameworks required to run FANS :

[A] Setting up PX4 SITL with ROS Melodic (Ubuntu 18.04) in a simulated environment in Gazebo.

0) Resources used

1) Install ROS Melodic from the official ROSWiki documentation

Make sure you install the correct ROS Distribution corresponding to your Ubuntu version,

2) Install dependencies

  • Execute the following commands to install dependencies :
sudo apt-get update -y
sudo apt-get install git zip cmake build-essential genromfs ninja-build exiftool astyle python-argparse python-empy python-toml python-numpy python-dev python-pip python3-pip gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl python-catkin-tools python-rosinstall-generator ros-melodic-gazebo-* -y
sudo -H pip install --upgrade pip
sudo -H pip install pandas jinja2 pyserial pyyaml
sudo -H pip3 install pyulog
sudo usermod -a -G dialout $USER
sudo apt-get remove modemmanager -y

sudo apt install -y \
	ninja-build \
	exiftool \
	python-argparse \
	python-empy \
	python-toml \
	python-numpy \
	python-yaml \
	python-dev \
	python-pip \
	ninja-build \
	protobuf-compiler \
	libeigen3-dev \
	genromfs
pip install \
	pandas \
	jinja2 \
	pyserial \
	cerberus \
	pyulog \
	numpy \
	toml \
	pyquaternion

3) Download MAVROS, MAVLink packages and build them

  • After ROS installation is complete, set up and initialize a ROS workspace with any name (for e.g. fans_ws)
mkdir -p fans_ws/src
cd fans_ws
catkin init && wstool init src
  • Add the .rosinstall files for MAVROS and MAVLink and build them (Note that the below steps are to be done in the root of the workspace)
rosinstall_generator --rosdistro melodic mavlink | tee /tmp/mavros.rosinstall
rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y
sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh
  • Build your workspace
catkin build

4) Download the PX4 Firmware package and build it

cd ~/fans_ws/src
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
cd PX4-Autopilot
make px4_sitl_default gazebo

5) Add the Gazebo model and ROS package paths to fans_ws/devel/setup.bash file

  • Add the following lines to the setup.bash file inside (at the end) <path_to_fans_ws>/devel so Gazebo can find the sdf models and ROS can find the packages when you source your ROS workspace (fans_ws).
source ~/fans_ws/src/PX4-Autopilot/Tools/setup_gazebo.bash ~/fans_ws/src/PX4-Autopilot/ ~/fans_ws/src/PX4-Autopilot/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/fans_ws/src/PX4-Autopilot
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/fans_ws/src/PX4-Autopilot/Tools/sitl_gazebo
  • If you don't want the Gazebo paths to be printed in your terminal every time, comment out the print (echo) statements in the fans_ws/src/PX4-Autopilot/Tools/setup_gazebo.bash file.
#echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
#echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH"
#echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH"

6) [Optional] Add downward pointing camera to your drones in Gazebo

  • Inside the file iris.sdf.jinja in PX4-Autopilot/Tools/sitl_gazebo/models/iris, add the following code snippet at the end after the </plugin> tag and before the </model>
<include>
	<uri>model://fpv_cam</uri>
	<pose>0.1 0 0 0 1.5708 0</pose>
</include>
<joint name="fpv_cam_joint" type="fixed">
	<child>fpv_cam::link</child>
	<parent>base_link</parent>
	<axis>
		<xyz>0 0 1</xyz>
		<limit>
			<upper>0</upper>
			<lower>0</lower>
		</limit>
	</axis>
</joint>
  • Note that the simulation might get computationally heavy with multiple drones streaming their camera feeds at the same time

7) Testing the setup

  • Source your workspace in the current working terminal
source ~/fans_ws/devel/setup.bash
  • Launch PX4 and MAVROS nodes using the following command, you must see an iris drone in a Gazebo world environment.
roslaunch px4 mavros_posix_sitl.launch
  • In a new terminal, run the following command
rostopic echo /mavros/state

If it shows the connected parameter to be True as shown below, then you may assume that your setup works fine.

---
header: 
  seq: 29
  stamp: 
    secs: 29
    nsecs: 336000000
  frame_id: ''
connected: True
armed: False
guided: False
manual_input: True
mode: "AUTO.LOITER"
system_status: 3
---

n) Tips for fast execution

  • Create an alias in your .bashrc file with the name of your workspace to source your workspace from any terminal super fast. For e.g. if the name of your workspace is fans_ws (assumed to be there in the ~ directory), add the following line in your .bashrc file (present in the ~ folder).
alias fans_ws='source ~/fans_ws/devel/setup.bash'

[B] Installing and setting up NS3 with cmake

0) Resources used

1) Installation of standard/normal and cmake versions of NS3

  • Install the standard version of NS3 ; Install all the required dependencies from this link, and then install NS3 from this link in the following way:
    a) Manual installation -> Downloading ns-3 Using Git
    b) Building ns-3 with build.py
    c) Configuration with Waf
    d) Validating

  • Clone the cmake version of NS3 inside the ns-3-allinone folder

cd <path_to_ns-3-allinone_folder>
git clone https://github.com/Gabrielcarvfer/NS3.git
  • Build the cmake version of NS3
cd <path_to_ns-3-allinone_folder>/NS3
mkdir cmake-cache
cd cmake-cache
cmake -DCMAKE_BUILD_TYPE=DEBUG ..
make