전체 글 (4) 썸네일형 리스트형 LeGO-LOAM 패키지 설치 Ubuntu 18.04 LTS ros-melodic 1. gtsam 설치 wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/ cd ~/Downloads/gtsam-4.0.0-alpha2/ mkdir build && cd build cmake .. sudo make install 2. 컴파일 cd ~/catkin_ws/src git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git cd .. catkin_make 3. 실행 roslaunch lego_l.. PX4 Install 1. Download PX4 cd ~/catkin_ws/src git clone https://github.com/PX4/Firmware.git --recursive 2. Run the ubuntu.sh with no arguments (in a bash shell) to install everything: cd Firmware bash ./Tools/setup/ubuntu.sh 3. Build PX4(&run gazebo) make px4_sitl_default gazebo If you want to build PX4 without running gazebo, DONT_RUN=1 make px4_sitl_default gazebo # Trouble shooting 1. [Err] [REST.cc:205.. ROS Install & Setup ubuntu 18.04 ros distro : melodic source: wiki.ros.org/melodic/Installation/Ubuntu wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment 1. Install ROS sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C.. PILS(px4, Gazebo) ROS, Gazebo, px4, QGroundControl(이하 QGC) 설치 QGC 셋팅 - Application Settings/General/AutoConnect... -> Pixhawk, UDP에 체크 QGC에서 픽스호크 연결 확인 후 HITL모드 셋팅 -Vehicle Setup/Airframe -> SIH QuadcopterX -Vehicle Setup/Safety/Hardware in the Loop Simulation -> SIH 또는 HITL enabled 선택 월드 생성 -Gazebo에서 월드 에디터를 통해 월드 생성 -또는 ~/Firmware/Tools/sitl_gazebo/worlds 폴더 열어서 원하는 월드 생성 -여기서는 iris_irlock.world를 복사하여 iris.worl.. 이전 1 다음
