ALLIGATR - AUTONOMOUS LOCALIZATION FOR GPS-DENIED AERIAL TRACKING AND RECONNAISSANCE

Final mission:

https://www.youtube.com/watch?v=9KemoTeZBSk&t=89s

This is the repo containing all code that will run onboard the quad on the Jetson Nano

HUB Dependancies

-Cmake 3.10 (or later), https://medium.com/@rahulbagul330/how-to-install-cmake-on-ubuntu-18-04-linux-c585394226bf

-C++ compiler (Tested with GCC), https://code.visualstudio.com/docs/cpp/config-linux

-ROS Melodic, https://wiki.ros.org/melodic/Installation/Ubuntu -- Follow all the way through building the catkin workspace

-Ubuntu 18.04,

-Xterm, Install with sudo apt update then sudo apt-get install xterm. This is used to open up new kernals that will run the ROS packages seperately. -xdtools, sudo apt-get install xdotool This is used for minimizing windows in development.

-ArduPilot and MavProxy, https://github.com/Intelligent-Quads/iq_tutorials/blob/master/docs/Installing_Ardupilot.md

-Catkin and dependencies, https://github.com/Intelligent-Quads/iq_tutorials/blob/master/docs/installing_ros.md

Gazebo Dependancies

To check if Gazebo is working:

1. In terminal one, run

   gazebo --verbose ~/ardupilot_gazebo/worlds/iris_arducopter_runway.world
   

2. In terminal two, run

   cd ~/ardupilot/ArduCopter/
   sim_vehicle.py -v ArduCopter -f gazebo-iris --console
   

   In the case of a symbol lookup error, try running this command sudo apt upgrade libignition-math2

-Gazebo and Ardupilot plugin, https://github.com/Intelligent-Quads/iq_tutorials/blob/master/docs/installing_gazebo_arduplugin.md --Incase of error installing GeographicLib (OS not supported), follow this guide too https://docs.px4.io/main/en/ros/mavros_installation.html

Computer Vision Dependancies