DJI Tello等ドローンの自律飛行を実現するには、3D環境でナビゲーション経路を計画としてOMPL（Open Motion Planning Library）を試してみます。

目次

動作環境

Ubuntu 18.04
ROS Melodic
Tello EDU

ARdroneのシミュレーターをGazeboで動かす

ドライバのインストール(ardrone_autonomy)

sudo apt install g++-5
sudo apt install gcc-5
cd ~/catkin_ws/src/
git clone https://github.com/AutonomyLab/ardrone_autonomy.git
cd ../
catkin_make

[ 89%] Built target point_grid
In file included from /usr/include/c++/7/bits/char_traits.h:39:0,
                 from /usr/include/c++/7/string:40,
                 from /opt/ros/melodic/include/ros/platform.h:38,
                 from /opt/ros/melodic/include/ros/time.h:53,
                 from /opt/ros/melodic/include/ros/ros.h:38,
                 from /home/k-koh/catkin_ws/src/ardrone_autonomy/include/ardrone_autonomy/ardrone_driver.h:31,
                 from /home/k-koh/catkin_ws/src/ardrone_autonomy/include/ardrone_autonomy/ardrone_sdk.h:70,
                 from /home/k-koh/catkin_ws/src/ardrone_autonomy/include/ardrone_autonomy/video.h:28,
                 from /home/k-koh/catkin_ws/src/ardrone_autonomy/src/video.cpp:25:
/usr/include/c++/7/bits/stl_algobase.h:243:56: error: macro "min" passed 3 arguments, but takes just 2
     min(const _Tp& __a, const _Tp& __b, _Compare __comp)

コンパイルエラーになります。

Next: 6.4. AirSimのシミュレーターを動かす

Prev: 6.2. Turtlebot3 Navigationでmap_fileの代わりにSLAMを使用