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Version: 2.0.0
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This page is describing the upcomming ROS2 version of the MRS UAV System (however, it may be still outdated). If you are looking for ROS1 version of the docs, follow to https://ctu-mrs.github.io/docs/1.5.0/introduction/.

Native installation of the MRS UAV System

Native installation​

  1. Install the Robot Operating System (Jazzy):
curl https://ctu-mrs.github.io/ppa2-stable/add_ros_ppa.sh | bash
sudo apt install ros-jazzy-desktop-full

  1. Configure your ROS environment according to http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

  2. Add the stable PPA into your apt-get repository:

curl https://ctu-mrs.github.io/ppa2-stable/add_ppa.sh | bash
  • Special instructions for the MRS System developers
    • Instead of the stable PPA, you can add the unstable PPA, for which the packages are build immediatelly after being pushed to master.
    • If you have both PPAs, the unstable has a priority.
    • Beware! The unstable PPA might be internally inconsistent, buggy and dangerous!
  1. Install the MRS UAV System:
sudo apt install ros-jazzy-mrs-uav-system-full
  1. Set Zenoh to be the used RMW implementation. The Zenoh RMW is used by default in our example simulation sessions. Add to ~/.bashrc (~/.zshrc):
export RMW_IMPLEMENTATION="rmw_zenoh_cpp"

Source ~/.bashrc (~/.zshrc):

source ~/.bashrc
  1. Start the example simulation session:
roscd mrs_multirotor_simulator/tmux/mrs_one_drone
./start.sh

How to update the MRS UAV System​

Issue the following command to update the MRS UAV System:

sudo apt update && rosdep update && sudo apt upgrade --with-new-pkgs --allow-downgrades

What does it do?​

  • sudo apt update will refresh the available debian packages from the archives.
  • rosdep update will refresh the rosdep depedency tree >
  • sudo apt upgrade will download the new versions of packages.
    • --with-new-pkgs will ensure that if new dependency appears for an already installed package, it will be installed as well.
    • --allow-downgrades will allow to downgrade a package version. This happens when installing our forks of official ROS packages.