Start Gazebo and PX4 SITL separately

• Terminal 1

make posix_sitl_default gazebo no_sim=1

• Terminal 2

# PX4 gazebo plugins
export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:/home/user/px4/Firmware/build/posix_sitl_default/build_gazebo
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:/home/user/px4/Firmware/Tools/sitl_gazebo/models

# add iris model into warehouse world
#run
gazebo --verbose /home/user/px4/Firmware/Tools/sitl_gazebo/worlds/warehouse.world

Add iris into warehouse.world

<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://asphalt_plane</uri>
    </include>
    <!--add iris model for example -->
    <include>
      <uri>model://iris</uri>
      <pose>1.01 0.98 0.83 0 0 1.14</pose>
    </include>

Note

Try to add model with gz command, the model add into the world model list but not visible

gz model --spawn-file=iris.sdf --model-name=iaaa -p 1.01 0.98 0.83 0 0 1.14

Hello DroneCode

The Dronecode SDK is a MAVLink Library for the PX4 flight stack, with APIs for C++ The library provides a simple API for managing one or more vehicles, providing programmatic access to vehicle information and telemetry, and control over missions, movement and other operations. SDK Main page

Install SDK

• Release
• Source

Note: First I Install from Release (deb) and try to compile the example takeoff_amd_land - The code look for action_result.h file that wasn't exists

Install SDK from source

git clone https://github.com/Dronecode/DronecodeSDK.git
cd DronecodeSDK
#master branch contain code like the deb
git checkout develop
git submodule update --init --recursive
make default
#Install
sudo make default install 
sudo ldconfig  # update linker cache

Takeoff example

• SDK C++

Project struct

├── bin
├── build
├── CMakeLists.txt
├── docs
├── README.md
└── src
    ├── CMakeLists.txt
    └── takeoff_and_land.cpp

• root Cmake file

cmake_minimum_required(VERSION 2.8.12)

project(xdrone)
set(CMAKE_CXX_STANDARD 11)

include_directories(/usr/local/include/dronecode_sdk)
link_directories(/usr/local/lib)
set(EXECUTABLE_OUTPUT_PATH ${CMAKE_SOURCE_DIR}/bin)

add_subdirectory(src)

• src cmake file

add_executable(takeoff_and_land takeoff_and_land.cpp)
target_link_libraries(takeoff_and_land
    dronecode_sdk
    dronecode_sdk_telemetry
    dronecode_sdk_action
)

Paste code from takeoff_and_land

• Run SITL make posix_sitl_default gazebo_iris from px4 Firmware folder
• Run the code

PX4 SITL mavros and gazebo

• Reference
• 404warehouse

Setup and run

• Terminal 1 Setting environment

cd <Firmware_clone>
make posix_sitl_default gazebo

source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/posix_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo

• Terminal 1 (launch gazebo and SITL)

roslaunch px4 posix_sitl.launch

• Terminal 2 (launch mavros)

roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"

• Terminal 3 (mavros commands: call services)

rosservice call /mavros/set_mode "base_mode: 0
custom_mode: 'OFFBOARD'" 

rosservice call /mavros/cmd/arming "value: true" 

rosservice call /mavros/cmd/takeoff "{min_pitch: 0.0, yaw: 0.0, latitude: 0.0, longitude: 0.0, altitude: 10.0}" 

PyMavlink and PX4 SITL

python implementation of the MAVLink protocol

SITL and pymavlink setup

• Terminal 1: from PX4 Firmware run

make posix_sitl_default jmavsim

---

Tip: Run SITL without GUI , good performance save resource

source

• Edit this file, which is part of jMAVSim repository, Visualizer3D.java13, and change setVisible(true) to setVisible(false).

# find . -name Visualizer3D.java
vim `find . -name Visualizer3D.java`
# search setVisible(true) //line 175
# change setVisible(true) to setVisible(false)

# compile and run again
make posix_sitl_default jmavsim

---

Now the SITL run without JMavsim GUI

| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [Unknown] Calling startup script: bash etc/init.d-posix/rcS 0

INFO  [simulator] Waiting for initial data on UDP port 14560. Please start the flight simulator to proceed..
 
Init MAVLink
4000000 B/s on udp port 14556 remote port 14550

INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14557 remote port 14540

PyMavlink demo

• use ipython/ python console

from pymavlink import mavutil
master = mavutil.mavlink_connection("udp:127.0.0.1:14540")
#master
# <pymavlink.mavutil.mavudp at 0x7..>
master.recv_match()
_.to_dict()

{'alt': 487971,
 'hdg': 40,
 'lat': 473977416,
 'lon': 85455938,
 'mavpackettype': 'GLOBAL_POSITION_INT',
 'relative_alt': -12,
 'time_boot_ms': 357265,
 'vx': -3,
 'vy': 0,
 'vz': 0}

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