KURI - MBZIRC Challenge 3

Challenge 3 related tasks implementation

In order run the simulation environment the following Packages are needed:

• ROS
• mavros
• Firmware
• sitl_gazebo
• kuri mbzirc simulation environment
• kuri mbzirc msgs
• Challenge 3 specific environment

Installing using rosinstall

cd <catkin_ws>
$ wstool init src
$ wstool set -t src kuri_mbzirc_challenge_3 https://github.com/kucars/kuri_mbzirc_challenge_3.git --git
$ wstool merge -t src https://raw.githubusercontent.com/kucars/kuri_mbzirc_challenge_3/master/mbzirc_challenge3.rosinstall
$ wstool update -t src
$ rosdep install -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO
$ catkin_make --cmake-args -DCONFIG=posix_sitl_default
$ cd <catkin_ws>/src/Firmware
$ source Tools/setup_gazebo.bash $(pwd) $(pwd)/build_posix_sitl_default
$ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
$ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo

Basic Usage

Launch the simulation environment with three drones:

$ roslaunch kuri_mbzirc_challenge_3 task.launch