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hector_quadrotor ported to ROS Noetic & Gazebo 11

.:: First version, please tell me the issues or help me to fix it ::.

I took part of this from The Construct's repo and YouTube chanel.

Requirements

I. You need the following packages before install hector_quadrotor_noetic.

  • unique_identifier: 
    git clone https://github.com/ros-geographic-info/unique_identifier.git
  • geographic_info: 
    git clone https://github.com/ros-geographic-info/geographic_info.git

II. Build.

cd ~/catkin_ws && catkin_make

III. Clone hector_quadrotor_noetic.

git clone https://github.com/RAFALAMAO/hector_quadrotor_noetic.git

IV. Repeat step II.

Usage

Run a simulation by executing the launch file in hector_quadrotor_gazebo and hector_quadrotor_demo packages (only these work at the momment, but you can try other ones):

  • Run the following for one drone inside an empty world: 
    roslaunch hector_quadrotor_gazebo quadrotor_empty_world.launch
  • Run the following for one dron outdoor: 
    roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch
  • Run the following for one dron outdoor without rviz interface: 
    roslaunch hector_quadrotor_demo outdoor_flight_gazebo_no_rviz.launch
  • Run the following for two drones inside an empty world: 
    roslaunch hector_quadrotor_demo two_drones_empty.launch

You can control it with:

  • teleop_twist_keyboard. 
    git clone https://github.com/ros-teleop/teleop_twist_keyboard
    Note: check use in: https://github.com/ros-teleop/teleop_twist_keyboard
  • User interface, shared by my friend anderdefector and adapted by me. You can find the code in hector_ui/src folder inside this repo.
    • Run the following for one dron ui: 
      rosrun hector_ui ui_hector_quad.py
    • If you are working with two_drones_empty.launch.
      • Run the following for leader dron ui: 
        rosrun hector_ui ui_hector_quad_leader.py
      • Run the following for follower dron ui: 
        rosrun hector_ui ui_hector_quad_follower.py
    • Note: Land and Take Off buttons don't work with hector_quadrotor.

Test

Here is a video testing it: