Building from Source

Requirements

The code has been tested with the following setup: ROS Noetic + Ubuntu 20.04 + GCC 9.3.

Additionally, you will need to install the following dependencies (if you're not using ROS Noetic, change noetic to your ROS version):

sudo apt install  python3-catkin-tools python3-rosdep python3-rosinstall python3-vcstool \
   ros-noetic-tf2-sensor-msgs ros-noetic-twist-mux ros-noetic-vision-msgs python3-yaml \
   python3-pycryptodome python3-gnupg libsuitesparse-dev libv4l-dev libceres-dev \
   ros-noetic-random-numbers ros-noetic-mavros-msgs libsdl-dev libsdl-image1.2-dev \
   ros-noetic-gazebo-ros ros-noetic-image-geometry ros-noetic-depth-image-proc \
   ros-noetic-tf2-geometry-msgs

Cloning the repo

1. Create a folder for your work environment, and clone the repo inside

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone [email protected]:KumarRobotics/kr_autonomous_flight.git

2. Get the dependencies

cd ~/catkin_ws/src/kr_autonomous_flight
vcs import < external_all.yaml
vcs pull
cd ../..

Building

catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build