Installation

NOTE: This tutorial assumes that you are familiar with Linux, Python, and ROS. Also that you have already created a workspace(named catkin_ws, if you are using a different name please change this.) and are using catkin built system. This tutorial is built for ubuntu 14.04 and ROS Indigo.

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Installing ardrone_autonomy

This is the driver for AR drone and is necessary to communicate with the drone in simulation and in the physical world.

cd ~/catkin_ws/src
git clone https://github.com/AutonomyLab/ardrone_autonomy

Installing tum_simulator

This is a simulator built for AR drone using gazebo.

cd ~/catkin_ws/src
git clone https://github.com/dougvk/tum_simulator

NOTE: This is the version of tum_simulator that works with indigo.

You are now ready to simulate the drone in Gazebo. Please go to finishing up the installation if you want just this part. You can get the instructions to simulate in Setting up the simulator section.

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Installing packages for ArUco marker detection

cd ~/catkin_ws/src
git clone https://github.com/simubhangu/pal_vision_segmentation -b hydro-devel
git clone https://github.com/simubhangu/marker_pose_detection
git clone https://github.com/pal-robotics/aruco_ros

And yes, its hydro-devel for pal_vision_segmentation.

You are now ready to detect ArUco markers in simulation and in the physical world. Please go to finishing up the installation if you want just this part. You can get the instructions to run ArUco detection in the ArUco marker pose detection section.

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Installing packages for whycon markers

cd ~/catkin_ws/src
git clone https://github.com/lrse/whycon.git

You are now ready to detect Whycon markers in simulation and in the physical world. Please go to finishing up the installation if you want just this part. You can get the instructions to run Whycon following in the Aligning with whycon marker section.

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Installing the navigation package

This includes the teleoperation using a keyboard, interface to tune PID for alignment to ArUco.

cd ~/catkin_ws/src
git clone https://github.com/eYSIP-2017/eYSIP-2017_Navigation-in-Indoor-Environments-using-drone.git

After finishing up the installation visit the respective pages for their information.

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Installing MoveIt!

sudo apt install ros-indigo-moveit

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Finishing up the installation

cd ~/catkin_ws
rosdep install --from-paths src --ignore-src --rosdistro indigo -y
catkin_make

NOTE: depending on what all packages are in the src folder this may take from seconds to several minutes.