Set up the pyramid robotics
Install
This package depends on third-party package.
- Rotors Simulation https://github.com/ethz-asl/rotors_simulator
- neo Simulation https://github.com/neobotix/neo_simulation
- ifopt https://github.com/ethz-adrl/ifopt
- Install and initialize ROS melodic desktop full, additional ROS packages, catkin-tools, and wstool:
$ sudo apt-get update
$ sudo apt-get install ros-melodic-joy ros-melodic-octomap-ros python-wstool python-catkin-tools protobuf-compiler
$ sudo apt-get install libgeographic-dev ros-melodic-geographic-msgs # Required for mavros.
# For melodic: sudo apt-get install libgeographiclib-dev
$ sudo rosdep init
$ rosdep update
$ source /opt/ros/melodic/setup.bash
- 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
- Get the rotors_simulator and additional dependencies
$ cd ~/catkin_ws/src
$ git clone https://github.com/ethz-asl/rotors_simulator.git
$ git clone https://github.com/ethz-asl/mav_comm.git
$ git clone https://github.com/ethz-asl/glog_catkin.git
$ git clone https://github.com/catkin/catkin_simple.git
$ sudo apt-get install libgflags-dev libgoogle-glog-dev liblmdb-dev
- Get the neo_simulator and additional dependencies
$ git clone https://github.com/neobotix/neo_simulation.git
- Get the ifopt and additional dependencies
$ git clone https://github.com/ethz-adrl/ifopt.git
$ sudo apt-get install cmake libeigen3-dev coinor-libipopt-dev
- 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
Modified package ifopt
- Add member function ~/catkin_ws/src/ifopt/ifopt_core/src/problem.cc
void
Problem::Clear()
{
constraints_.ClearComponents();
}~/catkin_ws/src/ifopt/ifopt_core/include/ifopt_core/problem.h
void Clear();- Build
$ cd ~/catkin_ws/
$ catkin build
Build the pyramid_robotics
FInally, we build pyramid_robotics!
$ cd ~/catkin_ws/src
$ git clone https://github.com/satoshi-ota/pyramid_robotics.git
$ cd ..
$ catkin build
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