Ubuntu and ROS

This page describes how to install our DJI ROS SDK framework on your machine. In this tutorial, we use Ubuntu 14.04.5 (downloadable from here, image file name is ubuntu-14.04.5-desktop-amd64.iso).

Version Information

$cat /etc/lsb-release
DISTRIB_ID=Ubuntu
DISTRIB_RELEASE=14.04
DISTRIB_CODENAME=trusty
DISTRIB_DESCRIPTION="Ubuntu 14.04.5 LTS"
 
$uname -a
Linux falcon2 4.4.0-31-generic #50~14.04.1-Ubuntu SMP Wed Jul 13 01:07:32 UTC 2016 x86_64 x86_64 x86_64 GNU/Linux

ROS and ROS packages

Install ROS by following the command line instructions below (taken from here).

$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://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
 
$sudo apt-get update
 
$sudo apt-get install ros-indigo-desktop-full
 
$mkdir -p ~/indigo_catkin_ws/src
 
$sudo apt-get install python-wstool python-catkin-tools \
ros-indigo-octomap-ros ros-indigo-ompl ros-indigo-fcl \
ros-indigo-dynamic-edt-3d libssh2-1-dev unzip libyaml-cpp0.5 \
liblog4cplus-dev libv4l-dev cimg-dev liblapacke-dev \
ros-indigo-cmake-modules ros-indigo-keyboard ros-indigo-joy \
openssh-client openssh-server
 
2. Initialize catkin workspace:

$mkdir -p ~/indigo_catkin_ws/src
$cd ~/catkin_ws
$catkin init
$catkin config --extend /opt/ros/indigo
$catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
$catkin config --merge-devel
$catkin build

3. Install our ROS infrastructure:

$cd src
$git clone https://github.com/ethz-asl/dji_onboard_sdk_ros
$git clone https://github.com/ethz-asl/mav_control_rw -b devel/dji_m100_linear
$git clone https://github.com/inkyusa/rotors_joy_inter_for_m100
$git clone https://github.com/ethz-asl/mav_comm.git
$git clone https://github.com/ethz-asl/eigen_catkin.git
$git clone https://github.com/ethz-asl/ethzasl_msf.git
$git clone https://github.com/catkin/catkin_simple
$git clone https://github.com/ethz-asl/glog_catkin
$git clone https://github.com/ethz-asl/mav_trajectory_generation
$git clone https://github.com/ethz-asl/geodetic_utils
$git clone https://github.com/ethz-asl/mav_comm
$git clone https://github.com/ethz-asl/nlopt
$git clone https://github.com/ethz-asl/waypoint_navigator

To build the workspace, run the following command at your catkin workspace root, '~/catkin_ws'

 $ catkin build

This will take around 10-15min, so have some coffee while waiting for compilation to complete. After the compilation, you should see the console output below: