A custom MAVROS for MALLARD

Installation

1. Install catkin_tool and dependencies

For Melodic:

sudo apt-get install python-catkin-tools python-rosinstall-generator -y

For Noetic:

sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon -y

2. Create a workspace

mkdir -p ~/catkin_ws/src  
cd ~/catkin_ws  
catkin init  
wstool init src  

3. Add MAVLink package reference

For both Melodic and Noetic, we use mavlink melodic reference as it's not distro-specific and up to date.

rosinstall_generator --rosdistro melodic mavlink | tee src/.rosinstall

4. Add our custom mavros package reference

Open src/.rosinstall with your desired text editor, e.g.:

gedit src/.rosinstall

Add the following lines at the end of the file.

- git:  
    local-name: mavros_mallard  
    uri: https://github.com/EEEManchester/mavros_mallard.git  
    version: dev

5. Install both packages

wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y

6. Install GeographicLib datasets

sudo ./src/mavros_mallard/mavros/scripts/install_geographiclib_datasets.sh

7. Build and source

catkin build
source devel/setup.bash

8. Add source to bashrc

Optional, add source to bashrc to avoid manual source everytime

echo "source $HOME/devel/setup.bash" >> ~/.bashrc 

Original guides

1. README
2. Installation instructions