• OS: ubuntu 16.4
• Gazebo simulator: ver 7.16.0
• ROS: Kinetic
• Ros Packages:
• RosPlan: ver. June 2018
• Tum_Simulator
• Rotor_Control (our package)
• Python: ver. 2.7

Download weights from: https://technionmail-my.sharepoint.com/:u:/g/personal/dvirh_campus_technion_ac_il/EQF8Vy6U3DtKrs31kuydLcQBTFFsNGRQevdqaUaKciIajg?e=uhSMYD

Run this code:

mkdir -p <workspace_folder>/src/rotor_control/scripts/ML/saved_models/

cp <downloaded weights path> <workspace_folder>/src/rotor_control/scripts/ML/saved_models/

cd <workspace_folder>/src

git clone https://github.com/KCL-Planning/ROSPlan

cd ..

sudo apt-get install ros-kinetic-hector-*

sudo apt-get install ros-kinetic-ardrone-autonomy

cd <workspace_folder>

catkin_make

cd <workspace_folder>/src

mkdir -p ROSPlan/rosplan_knowledge_base/common/mongoDB

mkdir -p rotor_control/scripts/photos_taken_by_quadrotor/InTesting/tmp

pip2 install torch torchvision

pip2 install future

In a new terminal type:

roscore

In a diffrent terminal type:

source <workspace_folder>/devel/setup.bash

./runAll.sh src/rotor_control/common/plan.pddl src/rotor_control/scripts/mainScript.py

• If you want to rename the folder (i.e from "QuadrotorProject" to "catkin_ws" ) make sure to do that before build. Renaming the folder after catkin_make might cause enviroumnet issues.
• If it's the first time you are running the project, you might get an error and gazebo will be stuck. If that happen- just wait several minutes for the gezebo to open (without pressing any keys). after gazebo opens you can re-run the script and it should work.

Thank you for @ dvirhalutz for a great partnership