#media/materials/textures:/usr/share/gazebo-11/media:/catkin_ws/models/baylands/media:/.gazebo/models

##do not change what is below this works and its annoying to fix #source /usr/share/gazebo/setup.bash source /opt/ros/noetic/setup.bash source ~/catkin_ws/devel/setup.bash source ~/catkin_ws/src/PX4-Autopilot/Tools/setup_gazebo.bash ~/catkin_ws/src/PX4-Autopilot ~/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/catkin_ws/src/PX4-Autopilot export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/catkin_ws/src/PX4-Autopilot/Tools/sitl_gazebo

export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/include/gazebo-11/gazebo/plugins export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/.gazebo/models export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/catkin_ws/src/air_bulbasaur/models export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/catkin_ws/src/air_bulbasaur/worlds export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/catkin_ws/src/PX4-Autopilot/Tools/sitl_gazebo/models export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/catkin_ws/src/PX4-avoidance/avoidance/sim/models export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/catkin_ws/src/PX4-avoidance/avoidance/sim/worlds export ROS_MASTER_URI=http://10.144.106.21:11311/ export ROS_IP=10.144.106.21

export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:/usr/share/gazebo-11

#:/catkin_ws/src/PX4-Avoidance/avoidance/sim/models:/catkin_ws/src/PX4-Avoidance/avoidance/sim/worlds:~/.gazebo/models

export MY_WORKSPACE="/home/alibek/workspace" export MY_CATKIN_WORKSPACE="/home/alibek/catkin_ws" export RMD_TEST_DATA_PATH="/home/alibek/catkin_ws/src/rpg_open_remode/test_data"

Please follow all instructions carefully as any deviation may cause issues later

NOTE: Before cloning please make sure that you have catkin tools installed and are running Ubuntu 20.04

0:

Setup github ssh keys if you have not already done so

1:

code ~/.bashrc Copy and paste the following at the end of your bashrc

source /opt/ros/noetic/setup.bash source /catkin_ws/devel/setup.bash source /catkin_ws/src/PX4-Autopilot/Tools/setup_gazebo.bash /catkin_ws/src/PX4-Autopilot /catkin_ws/src/PX4-Autopilot/build/px4_sitl_default export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/catkin_ws/src/PX4-Autopilot export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/catkin_ws/src/PX4-Autopilot/Tools/sitl_gazebo export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/include/gazebo-11/gazebo/plugins export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/.gazebo/models export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/catkin_ws/src/air_bulbasaur/models export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/catkin_ws/src/air_bulbasaur/worlds export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/catkin_ws/src/PX4-Autopilot/Tools/sitl_gazebo/models export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/catkin_ws/src/PX4-avoidance/avoidance/sim/models export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/catkin_ws/src/PX4-avoidance/avoidance/sim/worlds export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:/usr/share/gazebo-11

2:

Download and install QGC in whatever directory you desire

3:

cd home/username

(this is your base directory, IE home enviroment variable "~/")

git clone [email protected]:MichaelKerley/catkin_ws.git --recursive

4:

you may need to do git submodule synch or git submodule update --init --recursive

5:

cd catkin_ws/src/PX4-Autopilot/

make px4_sitl gazebo make px4_sitl_default gazebo

6:

cd .. cd .. catkin build

7:

roslaunch air_bulbasaur custom.launch

8:

Open up QGC and make sure

COM_OBS_AVOID is turned on

9:

have fun!