New Robot: Install and setup

Setup the ground station:

On the ground station (a PC you use to send commands, waypoints, etc., to robot), set up the "client" module, you can either:

Build from source

Using docker

For setting up the communication, this document should be helpful.

For setting up the multi ROS master (which is very important if your robot is going to lost communication with the ground station at some point) this document should be helpful.

Setup the robot:

Building and installing the autonomy stack:

Build from source

Using docker

Building additional packages

cd catkin_ws/src/kr_autonomous_flight
vcs import < external_real_robot.yaml
vcs pull
cd ../..

3. Build your code again

catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build

Important parameter files you should modify according to your purpose:

catkin_ws/src/kr_autonomous_flight/autonomy_core/control/control_launch/config/trackers_mp.yaml

catkin_ws/src/kr_autonomous_flight/autonomy_core/map_plan/map_plan_launch/config/mapper.yaml

A video tutorial: TODO