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)