Georgia Institute of Technology

Fall 2024 Capstone Design Project

S31-Autonomous GT Campus Navigation Drone

Simulation Environment Setup

Highly recommend to use conda environment to control dependencies

This project is tested/built on linux operating system

Dependencies Installation

pip install dronekit
pip install pymavlink
pip install MAVProxy

## Install GTK+3 library
sudo apt update
sudo apt install -y \
    libgtk-3-dev \
    libjpeg-dev \
    libtiff-dev \
    libgl1-mesa-dev \
    libglu1-mesa-dev \
    freeglut3-dev \
    libnotify-dev \
    libsdl2-2.0-0 \
    libsdl2-dev

sudo apt install python-opencv=3.2.0+dfsg-4ubuntu0.1

pip install matplotlib
pip install wxPython

Test MAVProxy

mavproxy.py --console --map

If the map and console shows up, MAVProxy is successfully installed

Ardupilot Installation

Ardupilot repository clone & update

git clone https://github.com/ArduPilot/ardupilot.git
cd ardupilot
git submodule update --init --recursive

STIL build

./waf configure --board sitl

## Install additional python packages
python -m pip install empy==3.3.4
python -m pip install pexpect

## Build may take a while
./waf build

QGroundControl Installation

Before installing

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 libfuse2 -y
sudo apt install libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor-dev -y

Logout and login to enable the changes

Download QGroundControl.AppImage from the following link
https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

Grant permission and run

chmod +x ./QGroundControl.AppImage
./QGroundControl.AppImage  (or double click)

Gazebo 9 Installation

[Gazebo Installation]

sudo apt install gazebo9 libgazebo9-dev

[Ardupilio-Gazebo Installation]

git clone https://github.com/dronedojo/ardupilot_gazebo
cd ardupilot_gazebo
mkdir build
cd build
sudo apt install cmake   
cmake ..
make -j4
sudo make install

ROS Melodic Installation

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
sudo apt install ros-melodic-desktop-full

Add this to .bashrc:

source /opt/ros/melodic/setup.bash

Finish installation

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install python-rosdep
sudo rosdep init
rosdep update

Install Gazebo-Ros

sudo apt-get install ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control