PX4 SITL Dronekit

• dependencies
• run jmavsim as simulator
• run dronekit sample code

Install dependencies

sudo apt-get install python-jinja2
sudo pip install numpy toml

Download PX4 and build

ROS and gazebo are preinstalled

mkdir px4
cd px4
git clone https://github.com/PX4/Firmware.git
cd Framework
wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_common_deps.sh
source ubuntu_sim_common_deps.sh

#First Build (Using the jMAVSim Simulator)
make posix jmavsim

DroneKit

dronekit

• droneKit
• dronekit-sitl

sudo pip install dronekit

Demo

• Dronekit read data from PX4 SITL
• Run PX4 SITL (simulation)

dronekit sample code

from dronekit import connect, VehicleMode

connection_string = "127.0.0.1:14540"
# Connect to the Vehicle.
print("Connecting to vehicle on: %s" % (connection_string,))
vehicle = connect(connection_string, wait_ready=True)

# Get some vehicle attributes (state)
print " System status: %s" % vehicle.system_status.state

Run gazebo simulation (without gzclient)

HEADLESS=1 make posix_sitl_default gazebo