Ardupilot Gazebo Plugin & Models
Requirements :
Native Ubuntu Xenial(16.04 LTS) able to run full 3D graphics.
(Virtual Machine such as VMWare Player does not support full 3D graphics.
but, possible solution is here
Type follow in the terminal,
echo "export SVGA_VGPU10=0" >> ~/.bashrc
source ~/.bashrc
from here http://answers.gazebosim.org/question/13214/virtual-machine-not-launching-gazebo/)
Gazebo version 7.x or 8.x The dev branch will works on gazebo >= 9.x
Disclamer :
This is a playground until I get some time to push the correct patch to gazebo master (I got hard time to work with mercurial..)!
So you can expect things to not be up-to-date.
This assume that your are using Ubuntu 16.04
Usage :
I assume you already have Gazebo installed with ROS (or without).
If you don't have it yet, install ROS with sudo apt install ros-kinetic-desktop-full
(follow instruction here http://wiki.ros.org/kinetic/Installation/Ubuntu).
Or install directly gazebo8 from http://gazebosim.org/tutorials?tut=install_ubuntu
libgazebo7-dev or libgazebo8-dev must be installed.
For Gazebo 7
sudo apt-get install libgazebo7-dev
OR
For Gazebo 8
sudo apt-get install libgazebo8-dev
git clone https://github.com/SwiftGust/ardupilot_gazebo
cd ardupilot_gazebo
mkdir build
cd build
cmake ..
make -j4
sudo make install
Set Path of Gazebo Models
echo 'export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/gazebo_models' >> ~/.bashrc
source ~/.bashrc
Copy Demo Worlds to Gazebo
sudo cp -a ~/ardupilot_gazebo/gazebo_worlds/. /usr/share/gazebo-7/worlds
DONE !
Now launch a world file with a copter/rover/plane and ardupilot plugin, and it should work! (I will try to add some world file and model later)
HELP
How to Launch :
Launch Ardupilot Software In the Loop Simulation for each vehicle.
On new terminal, Launch Gazebo with basic demo world.
ROVER
On 1st Terminal(Launch Ardupilot SITL)
sim_vehicle.py -v APMrover2 -f gazebo-rover -m --mav10 --map --console -I0
On 2nd Termianal(Launch Gazebo with demo Rover model)
gazebo --verbose worlds/ (Please Add if there is one.)
On 2nd Termianal(Launch Gazebo with demo Rover model)
On 1st Terminal(Launch Ardupilot SITL)
sim_vehicle.py -v ArduCopter -f gazebo-iris -m --mav10 --map --console -I0
On 2nd Terminal(Launch Gazebo with demo 3DR Iris model)
gazebo --verbose worlds/iris_irlock_demo.world
COPTER
On 1st Terminal(Launch Ardupilot SITL)
On 1st Terminal(Launch Ardupilot SITL)
sim_vehicle.py -v ArduPlane -f gazebo-zephyr -m --mav10 --map --console -I0
On 2nd Terminal(Launch Gazebo with demo Zephyr flying wing model)
gazebo --verbose worlds/zephyr_ardupilot_demo.world
In addition, you can use any GCS of Ardupilot locally or remotely(will require connection setup). If MAVProxy Developer GCS is uncomfortable. Omit --map --console arguments out of SITL launch.
And use APMPlanner 2 or QGroundControl instead.
Local connection with APMPlanner2/QGroundControl is automatic, and easier to use.
For APMPlanner2
Download it here http://firmware.eu.ardupilot.org/Tools/APMPlanner/ and launch it in terminal
apmplanner2
For QGroundControl
Download it here and follow the installation guide.
https://donlakeflyer.gitbooks.io/qgroundcontrol-user-guide/en/download_and_install.html
Troubleshooting
### Missing libArduPilotPlugin.so... etc
In case you see this message when you launch gazebo with demo worlds, check you have no error after sudo make install.
If no error use "ls" on the install path given to see if the plugin is really here.
If this is correct, check with "cat /usr/share/gazebo/setup.sh" the variable GAZEBO_PLUGIN_PATH. It should be the same as the install path. If not use "cp" to copy the lib to right path.
For Example
sudo cp -a /usr/lib/x86_64-linux-gnu/gazebo-7.0/plugins/ /usr/lib/x86_64-linux-gnu/gazebo-7/
path mismatch is confirmed as ROS's glitch. It'll be fixed.
Future(not activated yet)
To use Gazebo gps, you must offset the heading of +90° as gazebo gps is NWU and ardupilot is NED
(I don't use GPS altitude for now)
example : for SITL default location
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>-35.363261</latitude_deg>
<longitude_deg>149.165230</longitude_deg>
<elevation>584</elevation>
<heading_deg>87</heading_deg>
</spherical_coordinates>