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 # oscillation_ctrl
 
-Repo containing oscillation damping controller for tether missions + instructions how to to set up
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+Repo containing oscillation damping controller for tether missions + instructions how to to set up
+
+Cesar Rodriguez
+February 2022
+
+Steps to recreate stable PX4 environment + working repo
+
+#STEP 1) Installing ROS Melodic
+
+- SETUP SOURCES.LIST
+	sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+- SETUP YOUR KEYS
+    sudo apt install curl # if you haven't already installed curl
+    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+- INSTALLATION
+	sudo apt update
+	sudo apt install ros-melodic-desktop-full
+- ENVIRONMENT SETUP
+	echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
+- DEPENDENCIES
+	sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
+
+	Initilize rosdep:
+		sudo apt install python-rosdep
+		sudo rosdep init
+		rosdep update
+- PX4 DEPENDENCIES
+	sudo apt-get install python-catkin-tools python-rosinstall-generator -y
+	wstool init ~/catkin_ws/src
+- MAVLINK
+	rosinstall_generator --rosdistro melodic mavlink | tee /tmp/mavros.rosinstall
+- MAVROS
+	rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
+- CREATE WORKSPACE AND DEPS
+	cd ~/catkin_ws
+	wstool merge -t src /tmp/mavros.rosinstall
+	wstool update -t src -j4
+	rosdep install --from-paths src --ignore-src -y
+- INSTALL GEOGRAPHIC LIB DATASETS
+	cd ~/catkin_ws
+	sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh
+- BUILD SOURCE
+	cd ~/catkin_ws	
+	catkin build
+	
+
+#STEP 2) PX4 Environment Development
+
+- DOWNLOAD PX4 SOURCE CODE
+	git clone https://github.com/PX4/PX4-Autopilot.git --recursive
+- RUN UBUNTU.SH
+	bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
+	Restart computer after it is done
+- BUILD ROS/GAZEBO: Gets Gazebo9
+	wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh
+	bash ubuntu_sim_ros_melodic.sh
+- Download QGroundControl from:
+	https://docs.qgroundcontrol.com/master/en/releases/daily_builds.html
+- Build jMAVSim and Gazebo
+	cd ~/PX4-Autopilot
+	make px4_sitl jmavsim
+	%%% May need to open QGroundControl for it to work %%%
+	make px4_sitl gazebo
+- Create px4 package
+	cd ~/PX4-Autopilot
+	DONT_RUN=1 make px4_sitl_default gazebo
+	source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
+	export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
+	export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
+	roslaunch px4 posix_sitl.launch
+
+#STEP 3) This is Cesar stuff, need to do stuff to rebuild oscillation_ctrl
+- INSTALL XTERM
+	sudo apt-get update -y
+	sudo apt-get install -y xterm
+-INSTALL MAVROS_CONTROLLERS
+	cd ~/catkin_ws/src
+	clone repo:
+		git clone https://github.com/Jaeyoung-Lim/mavros_controllers
+	Download dependencies: 
+		cd ~/catkin_ws
+		wstool merge -t src src/mavros_controllers/dependencies.rosinstall
+		wstool update -t src -j4
+		rosdep install --from-paths src --ignore-src -y --rosdistro $ROS_DISTRO
+		catkin build
+		source ~/catkin_ws/devel/setup.bash
+	~Troubleshooting: https://github.com/Jaeyoung-Lim/mavros_controllers
+-TOOLS/SITL_GAZEBO
+	copy (or add) files in oscillation_ctrl/models and oscillation_ctrl/worlds to PX4-Autopilot/Tools/sitl_gazebo/models and PX4-Autopilot/Tools/sitl_gazebo/worlds respectively
+-ROMFS/PX4FMU_COMMON
+	copy (or add) files in oscillation_ctrl/airframes to PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes
+	add file name to CmakeLists.txt in same 'airframe' folder (with number)
+	add airframe name in ~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake (no number!)
+-LAUNCH FILES
+	ccopy (or add) files from px4_launch directory to ~/PX4-Autopilot/launch
+-MAVROS
+	- in px4.launch, replace:
+	<arg name="fcu_url" default="/dev/ttyACM0:57600" />
+	<arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550" />		
+	- with:
+	<arg name="fcu_url" default="udp://:14551@192.168.1.91:14556" />
+	<arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550" />
+- CHANGE DEVEL/SETUP.BASH
+	In catkin_ws (or any working directory) add to devel/setup.bash:
+		CURRENT_DIR=$(pwd)
+		cd ~/PX4-Autopilot
+
+		source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
+		export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
+		export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
+
+		cd $CURRENT_DIR
+
+#JINJA TETHER FILE
+- First two elements can be changed to tweak tether parameters
+	- number_elements: number of segments tether will be composed of
+	- tl: segment length (should be no shorter than 0.3 meters)
+
+
+
+
+	
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