（ROS）hector_quadrotor 的编译运行

Personal ROS/Tutorials

安装

mkdir -p hector_quadrotor_tutorial/src
cd hector_quadrotor_tutorial
wstool init src https://raw.github.com/tu-darmstadt-ros-pkg/hector_quadrotor/kinetic-devel/tutorials.rosinstall[/code] 
编译
cd hector_quadrotor_tutorial
catkin_make


几秒过后，出现以下错误提示，



原因是缺少geographic_info ROS包,从源：https://github.com/ros-geographic-info/geographic_info.git下载，解压到hector_quadrotor_tutorial/src目录下，重新catkin_make.

编译出现以下错误：



原因是缺少gazebo_ros_control的ROS包，从源：https://github.com/ros-simulation/gazebo_ros_pkgs.git下载同样解压到hector_quadrotor_tutorial/src目录下，catkin_make.

运行
编译成功之后，就可以运行demo了，hector_quadrotor一共有两个demo即indoor和outdoor.

1.运行indoor demo 

roslaunch hector_quadrotor_demo indoor_slam_gazebo.launch


gazebo:



rviz:



下载teleop_twist_keyboard ROS包可以实现键盘操控四旋翼。

sudo apt-get install ros-kinetic-teleop-twist-keyboard


rosrun teleop_twist_keyboard teleop_twist_keyboard.py


2.运行outdoor demo

这里写代码片


gazebo:



rviz: