de_gps_destination

1. Install ROS Kinetic:

	sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
	sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
	sudo apt update 
	sudo apt install ros-kinetic-desktop-full 
	sudo rosdep init
	echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
	source ~/.bashrc 
	sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

2. Install mavros:

	sudo apt install ros-kinetic-mavros

3. Clone Px4 firmware:

	git clone -b stable https://github.com/PX4/Firmware.git (v.1.6.5)
	sudo apt-get install python-jinja2 python-pip numpy toml openjdk-8-jre openjdk-8-jdk ant

Usage:

	make posix_sitl_default jmavsim

4. Download QGroundcontrol:

	wget https://s3-us-west-2.amazonaws.com/qgroundcontrol/latest/QGroundControl.tar.bz2
	tar jxf QGroundControl.tar.bz2
	sudo apt install libsdl2-*

Usage:

	./qgroundcontrol-start.sh

5. Install Parity or Ganache:

	wget http://d1h4xl4cr1h0mo.cloudfront.net/v1.8.10/x86_64-unknown-linux-gnu/parity_1.8.10_ubuntu_amd64.deb
	npm install -g ganache-cli

Usage:

	parity --chain kovan --jsonrpc-cors all

	npm install web3
	node
	Web3 = require("web3")
	web3 = new Web3(new Web3.providers.HttpProvider("http://localhost:8545"));

6. Clone DE ROS packages into Catkin workspace (install nosejs npm)

	git clone https://github.com/tuuzdu/de_gps_destination.git
	cd de_ros_bridge/
	npm install 
	sudo apt install ros-kinetic-rosbridge-suite
	catkin_make (for generating masseges)

7. Compile and deploy DE contracts

	npm install -g truffle
	truffle compile
	truffle migrate

Usage:

	truffle console
		gps = GPSDestination.at(GPSDestination.address)
		gps.initROS.sendTransaction({from: web3.eth.accounts[0], gas: 3000000})

8. Project launch. Prepare:

	parity --chain kovan --jsonrpc-cors all

or

	ganache-cli

	export PX4_HOME_LAT=60.086033 && export PX4_HOME_LON=30.421657
	make posix_sitl_default jmavsim

	roslaunch de_ros_tutorial px4_sitl.launch

	node start.js <GPSDestination contract address>

	./qgroundcontrol

Init:

	rostopic pub /de_employee/homebase de_ros_tutorial/SatPosition "latitude: 60.086033 longitude: 30.421657"

Usage:

	truffle console
		gps = GPSDestination.at(GPSDestination.address)
		gps.setNewEstimate.sendTransaction('30427500', '60087925', {from:web3.eth.accounts[0], gas:5000000})
		gps.takeFlight.sendTransaction({from: web3.eth.accounts[0], value: web3.toWei(0.001, "ether"), gas: 5000000})

Video: