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Update 'README.md'

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cesar.alejandro 2022-08-18 12:09:08 -07:00
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README.md
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@ -51,16 +51,7 @@ Initilize rosdep:
## 2) PX4 Environment Development ## 2) PX4 Environment Development
### Download PX4 source code Install [PX4 Firmware](https://docs.px4.io/main/en/dev_setup/dev_env_linux_ubuntu.html#rosgazebo). Then:
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 and Gazebo - This defaults to 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: #### Download QGroundControl from:
https://docs.qgroundcontrol.com/master/en/releases/daily_builds.html https://docs.qgroundcontrol.com/master/en/releases/daily_builds.html
@ -124,16 +115,14 @@ In catkin_ws (or any working directory) add to devel/setup.bash:
- First two elements can be changed to tweak tether parameters - First two elements can be changed to tweak tether parameters
- number_elements: number of segments tether will be composed of - number_elements: number of segments tether will be composed of
- tl: segment length (should be no shorter than 0.3 meters) - tl: segment length (should be no shorter than 0.3 meters)
- __IMPORTANT:__ in order for jinja file to work, the following needs to be added to the _CMakeLists.txt_ (Ln 288 - may change in future) in the _~/PX4-Autopilot/Tools/sitl_gazebo_ folder: - __IMPORTANT:__ in order for jinja file to work, the following needs to be added to the _CMakeLists.txt_ in the _~/PX4-Autopilot/Tools/sitl_gazebo_ folder. This creates a custom command to build the tether file whenever a change is done to it. (Currently, it should be added after Ln 290 - may change in future)
COMMAND COMMAND
${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py models/spiri_with_tether/spiri_with_tether.sdf} ${CMAKE_CURRENT_SOURCE_DIR} ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py models/spiri_with_tether/spiri_with_tether.sdf} ${CMAKE_CURRENT_SOURCE_DIR}
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py models/spiri_with_tether/spiri_with_tether.sdf DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py models/spiri_with_tether/spiri_with_tether.sdf
VERBATIM VERBATIM
)
- This should be added in the line below VERBATIM in the add_custom_command function, which should be Ln 288)
- This should be added in the line below VERBATIM in the add_custom_command function, which should be Ln 290). It should be part of the add_custom_command() after the 'else' statement
## ROS NODES ## ROS NODES
### LinkState.py ### LinkState.py