CSE2040 Exp-3 20BRS1217

Lab experiment - 3
Name: Vignesh
Surendran
Reg. No.: 20BRS1217
Subject: drone appls, components & assembly
Subject code: CSE2040
Professor: Dr. V Muthumanikandan
Slot: L43+L44
Give step-by-step procedure for installing the simulation for drones along
with prerequisites. It should be a complete manual for someone who wishes
to install drone simulation software. Give respective screenshots for
successful installation.
Follow the given steps for successful simulation of a drone:
1. We first install the required dependencies like CMake and git

sudo apt update && \
sudo apt install -y software-properties-common lsb-release && \
sudo apt clean all
wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc
2>/dev/null | gpg --dearmor - | sudo tee
/etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
sudo apt-add-repository "deb https://apt.kitware.com/ubuntu/
$(lsb_release -cs) main" sudo apt update
sudo apt install kitware-archive-keyring
sudo rm /etc/apt/trusted.gpg.d/kitware.gpg
sudo apt update
sudo apt install cmake -y
sudo add-apt-repository -y ppa:git-core/ppa
sudo apt-get update
sudo apt-get install git -y
sudo apt-get install git zip cmake build-essential genromfs ninja-

build exiftool astyle -y pip3 install argparse empy toml numpy
pip3 install pandas jinja2 pyserial pyyaml
pip3 install pyulog
2. Installing ROS and Gazebo

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 C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
## For keyserver connection problems substitute hkp://pgp.mit.edu:80

or hkp://keyserver.ubuntu.com:80 above.
sudo apt-get update
## Get ROS/Gazebo
sudo apt install ros-noetic-desktop-full -y ## Initialize rosdep

sudo rosdep init
rosdep update
## Setup environment variables

rossource="source /opt/ros/noetic/setup.bash"
if grep -Fxq "$rossource" ~/.bashrc; then echo ROS setup.bash
already in .bashrc; else echo "$rossource" >> ~/.bashrc; fi
eval $rossource
## Install rosinstall and other dependencies

sudo apt install python3-rosdep python3-rosinstall python3-
rosinstall-generator python3-wstool build-essential -y
# MAVROS: https://dev.px4.io/en/ros/mavros_installation.html
## Install dependencies
sudo apt-get install python3-catkin-tools python3-rosinstall-
generator -y #sudo apt-get install ros-noetic-geographic_info -y
sudo apt-get install ros-noetic-geographic-msgs -y
sudo apt-get install libgeographic-dev ros-noetic-geographic-msgs -y
pip3 install catkin_pkg pip3 install empy
## Create catkin workspace mkdir -p ~/catkin_ws/src

cd ~/catkin_ws
catkin init
wstool init src
## Install MAVLink
###we use the Kinetic reference for all ROS distros as it's not
distro-specific and up to date
rosinstall_generator --rosdistro kinetic mavlink | tee
/tmp/mavros.rosinstall
## Build MAVROS
### Get source (upstream - released)
rosinstall_generator --upstream mavros | tee -a
/tmp/mavros.rosinstall
3. We will now setup the workspace

#Install geographiclib
sudo apt install geographiclib-tools -y
echo "Downloading dependent script
'install_geographiclib_datasets.sh'"
# Source the install_geographiclib_datasets.sh script directly from
github install_geo=$(wget
https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scrip
ts/install_geogra phiclib_datasets.sh -O -)
wget_return_code=$?
# If there was an error downloading the dependent script, we must
warn the user and exit at this point.
if [[ $wget_return_code -ne 0 ]]; then echo "Error downloading
'install_geographiclib_datasets.sh'. Sorry but I cannot proceed
further :("; exit 1; fi
# Otherwise source the downloaded script.
sudo bash -c "$install_geo"
## Build!
catkin build
## Re-source environment to reflect new packages/build environment
catkin_ws_source="source ~/catkin_ws/devel/setup.bash"
if grep -Fxq "$catkin_ws_source" ~/.bashrc; then echo ROS catkin_ws
setup.bash already in .bashrc;
else echo "$catkin_ws_source" >> ~/.bashrc; fi
eval $catkin_ws_source
4. We will now download the QGroundControl to control the drone.
sudo usermod -a -G dialout $USER
sudo apt-get remove modemmanager -y
sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav

gstreamer1.0-gl -y
sudo apt install libqt5gui5 -y
sudo apt install libfuse2 -y
Download the image file from the official website
chmod +x ./QGroundControl.AppImage ./QGroundControl.AppImage

5. We will now download the PX4 code
6. We will now run Gazebo, PX4 and QGroundControl

Working of the PX4 in Gazebo

CSE2040 Exp-3 20BRS1217

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Lab experiment - 3

Follow the given steps for successful simulation of a drone:

1. We first install the required dependencies like CMake and git

sudo apt-get install git zip cmake build-essential genromfs ninja-

2. Installing ROS and Gazebo

## For keyserver connection problems substitute hkp://pgp.mit.edu:80

sudo apt install ros-noetic-desktop-full -y ## Initialize rosdep

## Setup environment variables

## Install rosinstall and other dependencies

pip3 install catkin_pkg pip3 install empy

## Create catkin workspace mkdir -p ~/catkin_ws/src

wstool init src

3. We will now setup the workspace

sudo apt-get remove modemmanager -y

sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav

sudo apt install libqt5gui5 -y

sudo apt install libfuse2 -y

Download the image file from the official website

chmod +x ./QGroundControl.AppImage ./QGroundControl.AppImage

6. We will now run Gazebo, PX4 and QGroundControl

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