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dev:mavlink_ros_robot_operation_system_integration_tutorial [2012/07/08 13:11]
lm created 		dev:mavlink_ros_robot_operation_system_integration_tutorial [2012/07/08 13:56] (current)
lm [MAVLink ROS Bridge Installation]
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 The ETH PIXHAWK team provides a MAVLink to ROS bridge for the most common messages. The bridge translates between UART/serial ports and UDP links transporting MAVLink and a ROS instance on the computer. The ETH PIXHAWK team provides a MAVLink to ROS bridge for the most common messages. The bridge translates between UART/serial ports and UDP links transporting MAVLink and a ROS instance on the computer.
  
 +=== Quick Introduction ===
  
 +  * ''$HOME'' is your home directory, if your username is john, this would be /home/john on Linux and /Users/john on Mac OS.
 +  * ''/opt/ros/fuerte'' is where ROS has been installed to. Adjust this if you have ROS installed to a different location
 +
 +=== Download Files ===
 +
 +Either change to the ROS workspace:
 +
 +  roscd
 +
 +Or if you want to have a different directory (as we do), add it to the ''ROS_PACKAGE_PATH''. To do this, edit ''$HOME/.bashrc'' (on a Linux box) or ''$HOME/.bash_profile'' (on a mac) and add the package path after sourcing the ROS setup script (if you do not have the source .. line in your script you should probably add it):
 +
 +<code bash>
 +source /opt/ros/fuerte/setup.sh
 +export ROS_PACKAGE_PATH=$HOME/src:$ROS_PACKAGE_PATH
 +</code>
 +
 +Close ALL terminals after this step and re-open them (pros can source the .bash* file, and leave the terminal open).
 +
 +Now go to the directory where you want to put the MAVLink bridge, either the ROS workspace:
 +
 +  roscd
 +  
 +Or a different directory, as we do:
 +
 +  cd ~/src
 +  
 +Download the MAVLink bridge:
 +
 +  git clone https://github.com/mavlink/mavlink_ros.git
 +
 +Change into the directory and compile
 +
 +  cd mavlink_ros
 +  rosmake