This repository contains the basic motion (landing-takeoff, right-left, up-down) codes of a vehicle belonging to the rotary wing UAV category, as well as several mission execution algorithms.
Below is the step-by-step installation of Ardupilot software and Gazebo simulation environment on Linux OS (Ubuntu 18.04 and above):
- First, open the Terminal (Ctrl+Alt+T) and download the necessary files for Ardupilot by entering the following commands in order:
sudo apt-get update
If it asks for a user password, you can enter it and continue.
sudo apt-get install git
You will see the question Do you want to contuniue [Y/n]?. Continue by pressing Enter
you can.
sudo apt-get install gitk git-gui
You will see the question Do you want to contuniue [Y/n]?. Continue by pressing Enter
you can.
Then we enter the following commands in order:
git clone https://github.com/your-github-userid/ardupilot
This process may take a while.
After downloading the file from Github, we go to the ardupilot folder:
cd ardupilot
Then we perform the update process:
git submodule update --init --recursive
After the process is finished, we can close the terminal.
After closing, click on Files from the taskbar and find the Ardupilot folder. Right click on the folder and open it in Terminal.
Immediately after opening it:
Tools/environment_install/install-prereqs-ubuntu.sh -y
We enter the command. We continue by entering the user password.
Then we enter
~/.profile
command.
Now we can close the terminal. After closing, we log out and log in again (you can also Restart)
After logging in again, we open the Terminal and start the Ardupilot STIL application:
cd ardupilot/ArduCopter
Afterwards
sim_vehicle.py -w
command. After the process is finished, kill the command by Ctrl+C and then
sim_vehicle.py --console --map
We enter the command
To update MavProxy and pymavlink we enter the following command:
pip install --upgrade pymavlink MAVProxy --user
After it is finished, we can now install the Gazebo.
By entering the commands in order, you can successfully set up the Gazebo and use ardupilot you can run it together.
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget https://packages.osrfoundation.org/gazebo.key -O - | | sudo apt-key add -
sudo apt update
sudo apt-get install gazebo9
sudo apt-get install libgazebo9-dev
git clone https://github.com/khancyr/ardupilot_gazebo
cd ardupilot_gazebo
mkdir build
cd build
cmake..
make -j4
sudo make install
echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc
echo 'export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models' >> ~/.bashrc
. ~/.bashrc
If these commands were executed successfully, then Gazebo is installed. Warning: If you are using a virtual machine (not recommended, you can choose to dual boot instead) you will need to enter these two commands:
export SVGA_VGPU10=0
echo "export SVGA_VGPU10=0" >> ~/.bashrc
If you are not using a virtual machine (i.e. dual boot) you can ignore these commands.
Now:
Clear
Let's clear the terminal with the command...
Let's start Gazeboyu and Arrdupilot STYLE:
gazebo --verbose worlds/iris_arducopter_runway.world
Gazebo will open (it may take a long time the first time you enter). Once it is open, you can create a new terminal by going to File\New Tab in the top left of the terminal. page. In order :
cd ~/ardupilot/ArduCopter
and then:
../Tools/autotest/sim_vehicle.py -f gazebo-iris --console --map
We enter the commands.
That's it...