Kittenator's profile - activity

You have to enable the motors by calling the \enable_motors service :

rosservice call \enable_motors true

Then you should be able to make it fly !

Hi,

I was wondering the same thing and found a way to download and build Hector Quadrotor for Kinetic. There is a number of packages to install (using apt-get) and some to clone from their git in a catkin workspace, then it compiles fine. Then there are some options to deactivate (the propulsion and aerodynamics plugins). I've made a script for the whole process. In the end you should be able to run the demo by doing 'roslaunch hector_quadrotor_demo indoor_slam_gazebo.launch'

#!/bin/bash

# to execute when in catkin_ws/src folder
sudo apt-get install ros-kinetic-ros-control
sudo apt-get install ros-kinetic-gazebo-ros-control
sudo apt-get install ros-kinetic-unique-identifier
sudo apt-get install ros-kinetic-geographic-info
sudo apt-get install ros-kinetic-laser-geometry
sudo apt-get install ros-kinetic-tf-conversions
sudo apt-get install ros-kinetic-tf2-geometry-msgs
sudo apt-get install ros-kinetic-joy

git clone -b kinetic-devel https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor
git clone -b catkin https://github.com/tu-darmstadt-ros-pkg/hector_localization
git clone -b kinetic-devel https://github.com/tu-darmstadt-ros-pkg/hector_gazebo
git clone -b kinetic-devel https://github.com/tu-darmstadt-ros-pkg/hector_models
git clone -b catkin https://github.com/tu-darmstadt-ros-pkg/hector_slam

sed -i -e 's/option(USE_PROPULSION_PLUGIN "Use a model of the quadrotor propulsion system" ON)/option(USE_PROPULSION_PLUGIN "Use a model of the quadrotor propulsion system" OFF)/g' hector_quadrotor/hector_quadrotor/hector_quadrotor_gazebo/urdf/CMakeLists.txt

sed -i -e 's/option(USE_AERODYNAMICS_PLUGIN "Use a model of the quadrotor aerodynamics" ON)/option(USE_AERODYNAMICS_PLUGIN "Use a model of the quadrotor aerodynamics" OFF)/g' hector_quadrotor/hector_quadrotor/hector_quadrotor_gazebo/urdf/CMakeLists.txt

# this is to deactivate warnings
sed -i -e 's/add_dependencies(landing_action hector_uav_msgs_generate_message_cpp)//g' hector_quadrotor/hector_quadrotor/hector_quadrotor_actions/CMakeLists.txt

sed -i -e 's/add_dependencies(pose_action hector_uav_msgs_generate_message_cpp)//g' hector_quadrotor/hector_quadrotor/hector_quadrotor_actions/CMakeLists.txt

sed -i -e 's/add_dependencies(takeoff_action hector_uav_msgs_generate_message_cpp)//g' hector_quadrotor/hector_quadrotor/hector_quadrotor_actions/CMakeLists.txt

sed -i -e 's/add_dependencies(hector_quadrotor_controllers hector_uav_msgs_generate_message_cpp)//g' hector_quadrotor/hector_quadrotor/hector_quadrotor_controllers/CMakeLists.txt


cd ..
catkin_make
source devel/setup.bash