fix build error, and adapt readme (#8)

* build dependencies fix * update readme, and adapt for braemabuel
ethz-asl · Apr 19, 2024 · 96d2338 · 96d2338
1 parent 3b28c0c
commit 96d2338
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diff --git a/README.md b/README.md
@@ -48,31 +48,33 @@ ros2 launch adaptive_snowsampler launch.xml
 
 ## Testing with PX4 Software-In-The-Loop(SITL) simulation
 
-Run the simulation instance
+Set the Package Paths
+```
+cd ~/PX4-Autopilot/
+DONT_RUN=1 make px4_sitl_default gazebo-classic
+source ~/catkin_ws/devel/setup.bash    # (optional)
+source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
+export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
+export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo-classic
+```
+Set the takeoff location
 ```
 export PX4_HOME_LAT=46.785479
 export PX4_HOME_LON=9.846803
 export PX4_HOME_ALT=2301.23
-make px4_sitl gz_x500
-```
 
-Run the micro-ros-agent
-```
-micro-ros-agent udp4 --port 8888
 ```
+
 Run the node
 ```
-ros2 launch adaptive_snowsampler launch.xml
-```
+roslaunch adaptive_snowsampler sitl_run.launch
 
-## Setting the leg angle manually:
-```
-rosservice call /snowsampler/set_landing_leg_angle  "35.0"
 ```
 
 ## Running the ground station
 
 To control the vehicle from the ground, we need to connect to the ROS Master on the drone.
+Whereby its important that the IP is correct and that the drone and ground station are in the same zerotier network.
 Run rviz with the following command.
 ```
 ROS_MASTER_URI=http://172.30.132.111:11311

diff --git a/adaptive_snowsampler/CMakeLists.txt b/adaptive_snowsampler/CMakeLists.txt
@@ -15,6 +15,7 @@ find_package(catkin REQUIRED COMPONENTS
   tf
   grid_map_geo
   grid_map_ros
+  grid_map_geo_msgs
   eigen_catkin
   interactive_markers
   planner_msgs

diff --git a/adaptive_snowsampler/launch/sitl_run.launch b/adaptive_snowsampler/launch/sitl_run.launch
@@ -3,7 +3,7 @@
     <arg name="fcu_url" default="udp://:[email protected]:14557"/>
     <arg name="gcs_url" default="" />
     <arg name="visualization" default="false"/>
-    <arg name="location" default="prodkamm_1m_crop"/>
+    <arg name="location" default="braemabuel"/>
     <arg name="gui" default="false"/>
     <arg name="verbose" default="false"/>
 

diff --git a/snowsampler_rviz/package.xml b/snowsampler_rviz/package.xml
@@ -10,6 +10,7 @@
 
   <buildtool_depend>catkin</buildtool_depend>
   <buildtool_depend>catkin_simple</buildtool_depend>
+  <build_depend>grid_map_geo_msgs</build_depend>
 
   <depend>mav_msgs</depend>
   <depend>roscpp</depend>