Challenge 3 related tasks implementation

In order run the simulation environment the following Packages are needed:

• ROS
• RotorS rotor_simulator
• mavros
• Firmware
• mbzirc simulation environment
• Challenge 3 specific environment

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ROS Indigo desktop full, additional ROS packages, catkin-tools, and wstool are needed to run the simulation, follow the following basic steps for an initial setup:

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
$ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get install ros-indigo-desktop-full ros-indigo-joy ros-indigo-octomap-ros python-wstool python-catkin-tools
$ sudo rosdep init
$ rosdep update
$ source /opt/ros/indigo/setup.bash

More information about how to install ROS can be found at: http://wiki.ros.org/indigo/Installation

===============

RotorS is a MAV gazebo simulator. This packages also contains some example controllers, basic worlds, a joystick interface, and example launch files.

1. If you don't have ROS workspace yet you can do so by:

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace  # initialize your catkin workspace
$ wstool init

Note for setups with multiple workspaces please refer to the official documentation at http://docs.ros.org/independent/api/rosinstall/html/ by replacing rosws by wstool.

2. rotors_simulator requires extra dependencies, get the simulator and additional dependencies

$ cd ~/catkin_ws/src
$ git clone https://github.com/kuri-kustar/rotors_simulator 
$ git clone https://github.com/PX4/mav_comm
$ git clone https://github.com/ethz-asl/glog_catkin.git
$ git clone https://github.com/ethz-asl/catkin_simple.git 

3. Build your workspace with python_catkin_tools (therefore you need python_catkin_tools)

$ cd ~/catkin_ws/
$ catkin init  # If you haven't done this before.
$ catkin build

4. Add sourcing to your .bashrc file

$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

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This package provides communication driver for various autopilots with MAVLink communication protocol.

1. Get the mavros packages

$ sudo apt-get install ros-indigo-mav* 

=======

This package contains the PX4 Flight Core that simulates the autopilot. Clone the following package:

$ cd ~/catkin_ws/src
$ git clone https://github.com/PX4/Firmware.git
$ cd Firmware
$ git submodule update --init --recursive
$ cd ~/catkin_ws/
$ catkin_make --cmake-args -DCONFIG=ros_sitl_simple

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kuri_mbzirc_sim is a package that simulates the environment of MBZIRC challenges

This package contains the 3 arenas used for the three challenges. First you need to clone the package:

$ cd ~/catkin_ws/src
$ git clone https://github.com/kuri-kustar/kuri_mbzirc_sim.git

Launch the simulator for main arena

$ roslaunch kuri_mbzirc_sim mbzirc_arena.launch

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kuri_mbzirc_challenge_3 is a package that launchs three drones in the start position it contains the related tasks for this challenge.

Clone the package:

$ cd ~/catkin_ws/src
$ git clone https://github.com/kuri-kustar/kuri_mbzirc_challenge_3.git

Launch the simulation environment with three drones:

$ roslaunch kuri_mbzirc_challenge_3 task.launch