Ubuntu 14.04下安装ardrone的tum_ardrone包

在以下程序安装之前，请确保已经在Ubuntu 14.04的环境下安装了ROS的indigo版本。

ardrone_autonomy : A ROS Driver for ARDrone 1.0 & 2.0

接下来要安装的ardrone驱动是TUM推荐版本

cd ~
mkdir stacks_for_ros
gedit .bashrc

在文件的最后一行加入

export ROS_PACKAGE_PATH="${ROS_PACKAGE_PATH}:/home/xxx/stacks_for_ros"

保存并关闭文件后，执行

source .bashrc

关闭所有终端，再新开一个终端

cd stacks_for_ros
git clone https://github.com/tum-vision/ardrone_autonomy.git
rosstack profile && rospack profile
roscd ardrone_autonomy
./build_sdk.sh
ls ./lib
rosmake ardrone_autonomy

Package tum_ardrone

mkdir -p tum_ardrone_ws/src
cd tum_ardrone_ws/src
git clone https://github.com/tum-vision/tum_ardrone.git -b indigo-devel
cd ..
catkin_make

忽略出现的错误

source devel/setup.bash
rosdep install tum_ardrone
catkin_make

如果出现类似于/usr/bin/ld: cannot find -l***的错误，可以参考链接

Launch the nodes

确保电脑连接了ardrone的wifi，新开一个终端

cd tum_ardrone_ws
source devel/setup.bash
roslaunch tum_ardrone ardrone_driver.launch

再开一个终端

cd tum_ardrone_ws
source devel/setup.bash
roslaunch tum_ardrone tum_ardrone.launch