hector_quadrotor_docker

Docker for hector quadrotor gazebo, built following tutorial of darienmt.

Documentation for hector quadrotor available here.

Installation

1. Install docker.

2. Clone repository:

git clone https://github.com/carlo98/hector_quadrotor_docker.git
cd hector_quadrotor_docker

3. Docker build (it will take some time):

sudo ./runDocker.sh build

Inside of docker:

cd /root/drone_racing_ws
catkin_make
source /root/drone_racing_ws/devel/setup.bash

In order to test the installation, use tmux to launch multiple instrunctions, in docker:

tmux

"ctrl-b" and then "ctrl-%" to double terminal, in first terminal:

roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch

"ctrl-b" and then arrows to change terminal, in second terminal:

rosservice call /enable_motors "enable: true"
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

to move the drone with keyboard, instrunctions will appear in the terminal.

Usage

In order to start the docker

sudo ./runDocker.sh

Future works

• RL obstacle avoidance in indoor environment
• Monocamera slam