Install Gazebo plugin for APM (ArduPilot Master) :
cd ~
git clone https://github.com/khancyr/ardupilot_gazebo.git
cd ardupilot_gazebo
git checkout dev
Build and install plugin
mkdir build
cd build
cmake .. make -j4
sudo make install
Install the package
cd ~/catkin_ws/src/
git clone https://github.com/Roboaries/MP_DR_T8
catkin_make
Or, download the repository as zip and extract in your "catkin_ws/src" folder
Add to .bashrc or .zshrc and reload (This step is very important to ensure that gazebo finds the models and your terminal finds the sim_vehicle.py script)
The line contours,hierarchy=cv2.findContours() may give an error: too many values to unpack, because the function cv2.findContours() returns 2 or 3 values depending on the python version.
If the script gives an error , just add an extra argument:
_,contours,hierarchy=cv2.findContours()
The spawn location of the UAV has been changed slightly, (within 5 meters of the UGV), to aid in takeoff.
The range of the depth camera has been increased, but the FOV has not been changed (in accordance with the rules).
Some paths/URIs in the .launch and the .world files may need to be changed according to one's own directory structure.
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