CARIC@OneStop: 5-minute setup for Cooperative Aerial Inspection Challenge

Prerequisites

• Ubuntu 20.04
• ROS Noetic
• Gazebo 11 and other dependencies (30min+, consider grabbing a kopi)

sudo apt-get update && sudo apt upgrade
sudo apt-get install python-wstool python-catkin-tools \
                     protobuf-compiler libgoogle-glog-dev \
                     ros-$ROS_DISTRO-control-toolbox \
                     ros-$ROS_DISTRO-octomap-msgs \
                     ros-$ROS_DISTRO-octomap-ros
sudo apt-get install ros-noetic-gazebo*

Installations

Building a workspace for the challenge's packages in home directory

cd
mkdir -p ws_caric/src;
catkin_init_workspace;
cd ws_caric/src;

git clone https://github.com/brytsknguyen/caric_mission
git clone https://github.com/brytsknguyen/rotors_simulator
git clone https://github.com/brytsknguyen/tcc
git clone https://github.com/caomuqing/traj_gennav

catkin build;

source ~/ws_caric/devel/setup.bash

Run the Marina Bay Sands Mission

(
roscd caric_mission/scripts/
sleep 10;
wait;
echo LAUNCHING
bash launch_all.sh
) & \
roslaunch caric_mission run_mbs.launch