This is a fork of sjtu_drone I made to fix some issues I had during instalation. I am posting this with the hope it will help somebody. sjtu_drone is a quadrotor simulation program forked from ['tum_simulator'] (http://wiki.ros.org/tum_simulator) , which is developed with ROS + Gazebo. It is used for testing visual SLAM algorithms aiding with different sensors, such as IMU, sonar range finder and laser range finder. The 'sjtu' means Shanghai Jiao Tong University.
This package is compatible with ROS Melodic version (wich needs Ubuntu 18.04). I tested this inside a Virtualbox virtual machine with 20 Gb of free disk space, 8192 MB of memory, 4 CPUs, Hiper-v (because it was running inside windows 10) and 128 Mb of video memory with 3D acceleration. I belive it would perform better on a real machine, but it worked for me.
Please install ubuntu 18.04 default desktop instalation and install the ROS Melodic full installation, which comes with the gazebo 9 by default:
$ 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://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
$ sudo apt update
$ sudo apt install ros-melodic-desktop-full
$ echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
$ sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
$ sudo rosdep init
$ rosdep update
Then configure the environment:
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make
$ source devel/setup.bash
This shoud be all you need to start.
$ cd ~/catkin_ws/src
$ git clone https://github.com/lrmcbr/sjtu-drone.git
$ cd ..
$ catkin_make
The simplest way is calling after you have built the workspace successfully.
$ export ROS_PACKAGE_PATH="$HOME/catkin_ws/src/sjtu-drone/":$ROS_PACKAGE_PATH
$ roslaunch sjtu_drone simple.launch
This would open Gazebo with a stopped simulation. Use mouse to change view position.
Press play button to start it.
In second terminal:
$ export ROS_PACKAGE_PATH="$HOME/catkin_ws/src/sjtu-drone/":$ROS_PACKAGE_PATH
$ rosrun sjtu_drone drone_keyboard
Then select the keyboard control ui and press Z to takeoff.
Good luck!