Cloning the package from github
Before cloning the package, create a catkin workspace using the following commands
mkdir -p ~/dorca_ws
cd ~/dorca_ws
mkdir -p src
catkin_make
and run the following command to clone the d-orca package
cd ~/dorca_ws/src
git clone https://github.com/harish1696/d-orca
cd d-orca
git submodule update --init
Dependencies
Before building the d-orca package, the following dependencies have to be installed
- ROS Kinetic
- MAVROS
- PX4
- Gazebo 7.13
Note :The above dependencies assume you have Ubuntu 16.04 installed in your machine.
ROS Kinetic, Gazebo 7.13 and MAVROS:
Run the following commands to install ROS, Gazebo and MAVROS using the script available in the scripts folder.
cd ~/dorca_ws/src/d-orca/scripts
chmod +x install_dependency.sh
./install_dependency.sh
PX4 firmware
Note : PX4 Firmware required to run the simulation. Hence, it is only required to be installed in workstations where simulation will be run.
To build the PX4 package, run the following commands
cd ~/dorca_ws/src/d-orca/Firmware
make px4_sitl_default gazebo
Once the firmware is built run the following command to source the environment
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd):$(pwd)/Tools/sitl_gazebo
Building the package
Now you can build the package by running the following commands
cd ~/dorca_ws
catkin_make