Precidrone

h1. Installing simulation environment

h2. Dependencies

* Python3 with setuptools, docopt, numpy, pyaml, rospkg, catkin_pkg

* Eigen3

* GDAL (version > 2)

* CMake

* libglew, libglew-dev

* ROS kinetic (on ubuntu: ros-kinetic-desktop ros-kinetic-tf2-eigen)

* Blender

* A c++14 compatible compiler

h2. On own computer

Make sure ROS environment is sourced, then:

<pre>

git clone ssh://git@redmine.laas.fr/laas/users/simon/agridrone/precidrones-main.git && cd precidrones-main/dev && rsync -r /net/skyscanner/volume1/data/precidrone/IGN . && make world

</pre>

And make sure to import the morse simulations before using them, for example (in the precidrones-main/dev folder):

<pre>

morse import morse/preci1

</pre>

h3. On LXD vm

Install and configure lxd:

<pre>

sudo snap install --edge lxd

sudo lxd init

</pre>

Lxd will ask for configuration, I used:

* clustering: no

* new storage pool: yes

* name: default

* type: zfs

* create new zfs pool: yes

* use existing block device: no

* size in GB of the new loop device: 40

* connect to a MAAS server: no

* create local network bridge: yes

* bridge name: lxdbr0

* ipv4 address: auto

* ipv6 address: auto

* LXD availqble over the network: yes

* address to bind lxd to: all

* port: 8443

* trust password: <password>

* auto update stale cached images: yes

* print YAML lxd preseed: yes

Creating the container:

<pre>

sudo lxc launch ubuntu:16.04 precidrone-sim

</pre>