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Installation Instructions on Ubuntu 20.04 for ROS NOETIC

ETH-Zürich : ethz-asl/rotors_simulator Repository

Prerequisites

  • Ubuntu 20.04 OS
  • ROS Noetic Ninjemys (Note: We will be using Ros1 and Python3)
  • Gazebo and Gazebo Ros Installation

If not installed follow the following links :

1. Install and initialize ROS Noetic Ninjemys, additional requried ROS packages, catkin-tools and wstool :

(Commands being run in Ubuntu Terminal in Home Directory)

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-noetic-desktop-full ros-noetic-joy ros-noetic-octomap-ros ros-noetic-mavlink python3-wstool python3-catkin-tools protobuf-compiler libgoogle-glog-dev ros-noetic-control-toolbox ros-noetic-mavros
sudo rosdep init
rosdep update
source /opt/ros/noetic/setup.bash

  • If you don’t have source /opt/ros/noetic/setup.bash line in your bash file then run following commands

    gedit ~/.bashrc

    Add following command at the end of your bash file source /opt/ros/noetic/setup.bash

    “SAVE” and then close the file

    Then run following command in terminal source ~/.bashrc

  • If you face a problem like: Error faced

    Then just before using line 3 of the above block just type in sudo apt install -f (This is auto remove feature of ros of unwanted commands) after this the problem should be solved.

  • If you face a problem like: Error faced

    It is not necessary to solve this error (But in few cases it might be required)

    Run sudo rm <path mentioned in error>, for example sudo rm /etc/ros/rosdep/sources.list.d/20-default.list

    Then Run sudo rosdep init

    Then Run rosdep update

2. Since we don’t have a workspace for the given project, we will make one :

(Commands being run in Ubuntu Terminal in <workspace_name>/src directory once workspace created)

mkdir -p ~/hexacopter_ws/src
cd ~/hexacopter_ws/src
catkin_init_workspace
wstool init
wget https://raw.githubusercontent.com/ethz-asl/rotors_simulator/master/rotors_hil.rosinstall
wstool merge rotors_hil.rosinstall
wstool update

3. Cloning Repository :

Note the repository is to be cloned in the <workspace_name>/src directory

(Note : Here we are using https to clone repository, other methods like ssh key,.. can also be used. Also, recursive cloning is used so any linked components if any are not missed (Recursive cloning is not essential, but is done to prevent any missing of essential linked components in certain cases))

cd ~/hexacopter_ws/src
git clone [email protected]:ethz-asl/rotors_simulator.git

4. Building Workspace with python3_catkin_tools (therefore we require python3_catkin_tools) :

(Commands being run in Ubuntu Terminal in <workspace_name> directory)

Checking/Installing python3_catkin_tools :

sudo apt-get update
sudo apt-get install python3-catkin-tools

Building Workspace :

cd ~/hexacopter_ws
catkin init
catkin build

If any errors occur you could run catkin init and catkin build commands again

Note : There should be total 10 packages (maybe more) installed successfully for installation to be successful

5. Add Sourcing to your ~/.bashrc file :

echo "source ~/hexacopter_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

REFERENCES :

ETH-Zürich : ethz-asl/rotors_simulator Repository