First, install some necessary command line utilities and development libraries:
sudo apt-get update
sudo apt-get install -y build-essential g++ python-dev autotools-dev libicu-dev build-essential libbz2-dev libboost-all-dev
sudo apt-get install -y curl git ccache gawk
sudo apt-get install -y python-pip
pip install --upgrade pip
sudo apt-get remove python-pip
Version 1.65 of the Boost libraries for C++ is necessary for the compilation of the ArduPilot Gazebo plugin. To start off the boost installation process, unpack the source code for Boost in your home directory:
cd ~
wget https://cfhcable.dl.sourceforge.net/project/boost/boost/1.65.0/boost_1_65_0.tar.bz2
tar -xvjf boost_1_65_0.tar.bz2
cd ~/boost_1_65_0
Now build the Boost libraries from source:
./bootstrap.sh --prefix=/usr/local
./b2 -j4
If Boost was built succcessfully, complete the installation with the following commands:
sudo ./b2 -j4 install
sudo sh -c 'echo "/usr/local/lib" >> /etc/ld.so.conf.d/local.conf'
sudo ldconfig
Older versions of CMake may not play nicely with newer versions of Boost, so to be safe you may want to upgrade CMake. Download the source for CMake 3.10.2 with the following set of commands:
version=3.10
build=2
mkdir ~/temp
cd ~/temp
wget https://cmake.org/files/v$version/cmake-$version.$build.tar.gz
tar -xzvf cmake-$version.$build.tar.gz
cd cmake-$version.$build/
Then build CMake from source:
./bootstrap
make -j4
sudo make install
Verify that CMake was installed properly by executing the following command:
cmake --version
Start by installing some Python dependencies for ArduPilot:
sudo -E env "PATH=$PATH" pip2 install -U setuptools future lxml matplotlib opencv-python scipy numpy sklearn serial pymavlink MAVProxy
Clone the latest stable release of ArduPilot (3.5.5 on 2/28/2018):
cd ~
git clone https://github.com/ArduPilot/ardupilot
cd ardupilot
git checkout Copter-3.5.5
git submodule update --init --recursive
Add some directories to your system's path:
echo 'export PATH=$PATH:$HOME/ardupilot/Tools/autotest' >> ~/.bashrc
echo 'export PATH=/usr/lib/ccache:$PATH' >> ~/.bashrc
source ~/.bashrc
Move into the directory for ArduCopter
cd ~/ardupilot/ArduCopter
Compile ArduPilot
sim_vehicle.py -w
Press CTRL+C once compilation is done to stop the script.
Install the latest stable version of Gazebo:
curl -ssL http://get.gazebosim.org | sh
sudo apt-get install libgazebo9-dev
Setup an environment to run Gazebo in:
echo 'source /usr/share/gazebo-9/setup.sh' >> ~/.bashrc
echo 'export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:/usr/share/gazebo-9/models' >> ~/.bashrc
echo 'export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:/usr/lib/x86_64-linux-gnu/gazebo-9/plugins' >> ~/.bashrc
source ~/.bashrc
Clone the repo and build the RealSense plugin for Gazebo:
cd ~
git clone https://github.com/intel/gazebo-realsense.git
cd gazebo-realsense
mkdir build
cd build
cmake ..
make -j4
Add the Intel RealSense model and plugins to the Gazebo environment:
echo 'export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/gazebo-realsense/build/gzrs' >> ~/.bashrc
echo 'export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/gazebo-realsense/models' >> ~/.bashrc
source ~/.bashrc
Build and install the ArduPilot plugin for Gazebo:
cd ~
git clone https://github.com/christopher-o-toole/ardupilot_gazebo.git
cd ardupilot_gazebo
mkdir build
cd build
cmake ..
make -j4
sudo make install
Add the ArduPilot drone models to your Gazebo environment:
echo 'export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/ardupilot_gazebo/gazebo_models' >> ~/.bashrc
source ~/.bashrc
Clone the repo:
cd ~
git clone https://github.com/christopher-o-toole/IARC_RL_World.git
cd IARC_RL_World
Compile the plugins:
cd GameScoreManager
rm -rf build
mkdir build
cd build
cmake ..
make -j4
cd ../../Roomba
rm -rf build
mkdir build
cd build
cmake ..
make -j4
cd ../../TimeManager
rm -rf build
mkdir build
cd build
cmake ..
make -j4
cd ../../WorldController
rm -rf build
mkdir build
cd build
cmake ..
make -j4
Add the world's assets to your Gazebo environment:
echo 'export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/IARC_RL_World/Assets/models' >> ~/.bashrc
echo 'export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/IARC_RL_World/WorldController/build' >> ~/.bashrc
echo 'export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/IARC_RL_World/TimeManager/build' >> ~/.bashrc
echo 'export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/IARC_RL_World/GameScoreManager/build' >> ~/.bashrc
echo 'export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/IARC_RL_World/Roomba/build' >> ~/.bashrc
echo 'export GAZEBO_RESOURCE_PATH=${GAZEBO_RESOURCE_PATH}:~/IARC_RL_World/Assets/materials/textures' >> ~/.bashrc
source ~/.bashrc
Try the world out!
cd ~/IARC_RL_World
gazebo --verbose IARC_RL_World.world
If all goes well, your world should look something like this:
