Ardupilot gazebo

• reference

Gazebo Plugin for Arducopter

• ubuntu 16.04
• ROS Kinetic
  • gazebo 7

Preinstall

sudo apt-get install libgazebo7-dev

Install and build plugin

cd <path>/ardupilot
git clone https://github.com/SwiftGust/ardupilot_gazebo
cd ardupilot_gazebo/
mkdir build
cd build
cmake ..
make -j4
sudo make install

Setup

• Add worlds to gazebo resource search path
• Add modules to gazebo model search path (.bashrc)

#Add to .bashrc
# init / export gazebo env variables
source /usr/share/gazebo/setup.sh
export GAZEBO_RESOURCE_PATH=/ardupilot_gazebo/gazebo_worlds:${GAZEBO_RESOURCE_PATH}
#modules
export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/gazebo_models:${GAZEBO_MODEL_PATH}
source ~/.bashrc

Run

• Terminal 1 (SITL)

sim_vehicle.py -v ArduCopter -f gazebo-iris  -m --mav10 --map --console -I0

• v: Vehicle

• f: Frame

• m: mavproxy args

  • mav10
  • map
  • console

• I:

• Terminal 2 (gazebo)

gazebo --verbose iris_irlock_demo.world

[Dbg] [ArduCopterPlugin.cc:722] ArduCopter controller online detected.