This repository acts as the source in which certain UAV-RT repositories/packages can be cloned into to be built using the version of colcon packaged with ROS 2 galactic.
The development of this code was funded via National Science Foundation grant no. 2104570.
TBD
The supporting documentation for this project can be found here. (TBD)
TBD
- Linux - Ubuntu 20.04 (amd64)
- PX4 autopilot
- Airspy HF+ Discovery
- Companion computer
- This project was developed and deployed on the UDOO x86 II Ultra
Installation instructions will be supplied for Ubuntu 20.04. The standard Debian/Ubuntu package manager apt will be used for installation purposes.
Note: Check whether these dependencies are installed prior to running the installation commands below!
Python 3.8 is the minimum requirement:
- Ubuntu
sudo apt update && sudo apt upgrade
sudo apt install python3.8
python --version
While a Python 3.9 enviroment is required for MATLAB ROS 2 support:
- Ubuntu
sudo apt update && sudo apt upgrade
sudo apt install python3.9
python --version
Cmake 3.16.3+:
- Ubuntu
sudo apt update && sudo apt upgrade
sudo apt install cmake
cmake --version
- Ubuntu
sudo apt update && sudo apt upgrade
sudo apt install git
git --version
- Ubuntu — GNU Compiler Collection (GCC) 6.3+
sudo apt update && sudo apt upgrade
sudo apt install build-essential
sudo apt install manpages-dev
gcc --version
Ubuntu
sudo apt update && sudo apt upgrade
apt install netcat
dpkg -L netcat
This codebase utilizes Boost when necessary.
The following commands are to install all Boost 1.71.0 libraries:
sudo apt update
sudo apt upgrade
sudo apt install libboost-all-dev
Note: Narrow down the exact Boost libraries that are required.
Tuner.py utilizes scipy.
Install pip3 if you haven't already:
sudo apt update
sudo apt upgrade
sudo apt install python3-pip
The following commands will install scipy using pip:
pip3 install scipy
TBD. The instructions I wrote for this are in the airspy_channelizer repo. Ultimately, the dependencies for the UAV-RT need to be on a centralized site.
The UAV-RT codebase supports the Galactic Geochelone distributions of ROS 2:
The instructions for installing ROS 2 Galactic Geochelone can be found here:
Follow from the beginning of the instrunctions to the end, as it can be difficult to troubleshoot errors later on unless ROS 2 is correctly installed. Run the Examples that are listed at the bottom of the installation instructions to ensure that ROS 2 is correctly installed on your machine.
Note: Use the Ubuntu installation instructions linked above! This will ensure that your ROS 2 overlay can be sourced using source /opt/ros/galactic/setup.bash.
ROS 2 packages are built on frequently updated Ubuntu systems. It is always recommended that you ensure your system is up to date before installing new packages.
sudo apt update && sudo apt upgrade
sudo apt install python3-rosdep2
You will then need to update rosdep. From the ROS 2 galactic instructions.
rosdep update
colcon is an iteration on the ROS build tools catkin_make, catkin_make_isolated, catkin_tools and ament_tools. For more information on the design of colcon see this document.
The source code can be found in the colcon GitHub organization.
sudo apt update && sudo apt upgrade
sudo apt install python3-colcon-common-extensions
This codebase supports MAVLink V2.
We use MAVSDK C++ as the interface to the MAVLink protocol:
Note: The installation version listed on the MAVSDK site is out-of-date!
Use the following instructions for installing the version of MAVSDK that was used during development.
cd ~
wget https://github.com/mavlink/MAVSDK/releases/download/v1.4.6/libmavsdk-dev_1.4.6_ubuntu20.04_amd64.deb
sudo dpkg -i libmavsdk-dev_1.4.6_ubuntu20.04_amd64.deb
MATLAB 2022a+ is recommended but it is not required:
For installing this package, it is required that you have a functional ROS 2 workspace. Below is a set of instructions to create a ROS2 workspace. These instructions will fail unless the previous dependencies have been met.
- These instructions were adapted from ROS 2 documentation.
- For more details on creating a workspace using Galactic.
Within a terminal window, run the following commands:
source /opt/ros/galactic/setup.bash
mkdir -p ~/uavrt_workspace/
cd ~/uavrt_workspace/
You must be a member of the Dynamic and Active Systems Lab organization on Github. Authentication is currently required for the following command:
git clone https://github.com/dynamic-and-active-systems-lab/uavrt_source/
"All required rosdeps installed successfully" should be returned after the following command:
rosdep install -i --from-path uavrt_source --rosdistro galactic -y
There should be "build install log uavrt_source" directories in the workspace root (~/uavrt_workspace) after the following command:
source /opt/ros/galactic/setup.bash
colcon build
. install/local_setup.bash
If these commands didn't fail, then your installation of uavrt_source should be complete.
You will need to populate uavrt_source with the different uavrt_packages in order to begin using the system. The instructions for installing these individual packages are found in the installation section of each package's README.
Once all of the necessary uavrt_packages have been cloned into uavrt_source, you will need to run the following commands again within a terminal window:
cd ~/uavrt_workspace/
source /opt/ros/galactic/setup.bash
"All required rosdeps installed successfully" should be returned after the following command:
rosdep install -i --from-path uavrt_source --rosdistro galactic -y
After this next command, you will see something akin to...
Starting >>> uavrt_PACKAGE
Finished <<< uavrt_PACKAGE [Time(s)]
Summary: 1 package finished [Time(s)]
colcon build
source /opt/ros/galactic/setup.bash
. install/local_setup.bash
If these commands didn't fail, then your installation of the UAV-RT codebase should be complete.
If you or your team encounter issues while installing or using the uavrt_source package, please open a new issue within the "Issues" tab of the repository.
This codebase is released under the GNU General Public License v3.0.