Installation

Start by installing ROS 2 Humble by following the instructions on the ROS 2 Humble Documentation. Only after you have installed ROS 2, you can proceed with the installation of Pegasus.

Installing External Dependencies

1. Create a separate workspace for the Pegasus external dependencies, such that you only need to compile them once:

   mkdir -p ~/pegasus_external
   cd ~/pegasus_external
   
   # Install the dependencies for CasADi (IPOPT)
   sudo apt install coinor-libipopt-dev
   

2. Clone the Pegasus External:

   # Clone the repository (SSH)
   git clone git@github.com:PegasusResearch/pegasus_external.git src
   
   # Compile the code
   colcon build --symlink-install
   

3. Source the workspace in the .bashrc file:

   echo "source ~/pegasus_external/install/setup.bash" >> ~/.bashrc
   

Installing Pegasus

1. Create a separate workspace that will contain the actual Pegasus code:

   # Create the workspace
   mkdir -p ~/pegasus/src
   cd ~/pegasus/src
   
   # Clone the repository (SSH)
   git clone git@github.com:PegasusResearch/pegasus.git --recursive
   

2. Compile the code:

   # Go to the workspace
   cd ~/pegasus
   
   # Compile the code
   colcon build --symlink-install
   

3. Source the workspace in the .bashrc file:

   echo "source ~/pegasus/install/setup.bash" >> ~/.bashrc
   

Running Simulations with Pegasus

• In order to run gazebo clasic simulations with the Pegasus, proceed to the page Gazebo Classic.

• To run simulations with the Pegasus Simulator (Isaac Sim), proceed to the page Pegasus Simulator.

Running Real Flight with Pegasus

• Setup the Pegasus drone by following the instructions on the Pegasus Drone Setup page.

• Setup the Kopis drone by following the instructions on the Kopis Drone Setup page.