Deep Neuromorphic Controller with Dynamic Topology for Aerial Robots code execution setup

Welcome to the simulation world of the published paper on Deep neuromorphic controller with dynamic Topology for aerial robots.

Here is a list of simple commands and steps to be able to execute the codes and see results for further research.

##INSTALL PACKAGES

1. Clean Linux machine running ubuntu 16.04 . * Any sort of ros or px4 which is of different version might not work correctly with this implementation as such use a from a clean installation. 2.Run the following commands in order : *(Any simple errors, please refer to the compiler suggestion ) i have tried to cover all here as i was able to reproduce the results.

1. wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.shls\
2. source ubuntu_sim_ros_melodic.sh

1.  git clone https://github.com/PX4/PX4-Autopilot
2.  cd PX4/-Autopilot
3.  make p4_sitl gazebo

  1.  pip3 install –user empy
  2.  pip3 install –user packaging
  3.  pip3 install –user toml
  4.  pip3 install –user numpy
  5.  pip3 install -user jinja2
  6.  sudo apt install libgstreamer1.0-dev
  7.  sudo apt install gstreamer1.0-plugins-good
  8.  sudo apt install gstreamer1.0-plugins-bad
  9.  sudo apt install gstreamer1.0-plugins-ugly
  The px4 should have run succefully now ! if not just run this once 
  10. Sudo apt-get update
  11. Sudo apt-upgrade 

1.  We will use Gazebo with ROS wrapper for this project
2.  cd px4/PX4-Autopilot
3.  DONT_RUN=1 make px4_sitl_default gazebo
4.  source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
5.  export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
6.  export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
7.  roslaunch px4 mavros_posix_sitl.launch

3. Now the px4 would hv connected to the simulator gazebo on TCP port 4560
4. Choose a script from the src folder and just run it with python ./ypur_choice_of_script

Please update the subscriber call when initialising ROS to collect the correct local_pos of the drone. Only the result folder has the correct calls. So if you wish to run the other scripts in src folder , do repace "/mocap/mavros/pose" to "/mavros/local_position/pose"

Reference:

Kocer, A. Hady, H. Kandath, M. Pratama, M. Kovac, Deep Neuromorphic Controller with Dynamic Topology for Aerial Robots, ICRA, 2021