UAV AR

Installing ROS and ardrone_autonomy on the Jetson

The client requires Python 2 to be installed.

1. Install ROS Indigo for ARM by following instructions 2.1-2.7 here.

2. Create a catkin workspace:

   $ mkdir -p ~/catkin_ws/src
   $ cd ~/catkin_ws/src
   $ catkin_init_workspace

3. Compile ardrone_autonomy:

   $ cd ~/catkin_ws/src
   $ git clone https://github.com/AutonomyLab/ardrone_autonomy.git -b indigo-devel
   $ cd ~/catkin_ws
   $ rosdep install --from-paths src -i
   $ catkin_make

   The build will fail with a message about an invalid instruction due to being on ARM.

4. Patch ardrone_autonomy build files and recompile:

   $ cd ~/catkin_ws
   $ wget https://gist.githubusercontent.com/euclio/2d4a8cbcb4433853a510/raw/b691bdc59ae3e05164e17a620d33424604eff11e/armv7_catkin.patch
   $ patch -p1 < armv7_catkin.patch
   $ catkin_make

5. Compile ardrone_tutorials:

   $ cd ~/catkin_ws/src
   $ git clone https://github.com/mikehamer/ardrone_tutorials
   $ cd ~/catkin_ws
   $ catkin_make

6. Install additional ROS packages:

   $ sudo apt-get install ros-indigo-joy ros-indigo-cv-bridge

7. Install CUDA. Download the CUDA toolkit for toolkit for the version of Linux4Tegra you're running, and then follow the instructions.

8. Install OpenCV. Download OpenCV4Tegra for the version of Linux4Tegra you're running, and then follow the instructions.

9. Install the OpenCV4Tegra Python bindings:

   $ sudo apt-get install libopencv4tegra-python

10. Install Qt and Python bindings:

    $ sudo apt-get install python-pyside

11. Install adb.

    $ sudo apt-get install android-tools-adb

12. Install the protobuf library.

    $ sudo easy_install pip
    $ sudo pip install protobuf

Running the client

1. Connect to the drone's Wi-Fi.

2. Prepare ROS.

   $ source ~/catkin_ws/devel/setup.bash
   $ roscore
   $ rosrun ardrone_autonomy ardrone_driver

3. Run the client.

   $ python launch.py