元記事
環境 |
|
|---|---|
| OS | ubuntu 16.04 |
| kernel | 4.10.0-28-generic |
| Gazobo | 8.2.0 |
| Arducopter | 3.4.6 |
Gazebo SITL Plugin
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A ROS-independent Gazebo plugin for Ardupilot's SITL.
Requirements
* Python 2.7+ (to generate mavlink headers)
* MavProxy (https://github.com/Dronecode/MAVProxy)
こっちの方がわかりやすい
* MavProxy (https://ardupilot.github.io/MAVProxy/html/getting_started/download_and_installation.html#linux)
sudo apt-get install python-dev python-opencv python-wxgtk3.0 python-pip python-matplotlib python-pygame python-lxml
Note
On some older Linux systems, python-wxgtk3.0 may be instead named as python-wxgtk2.8.
pip install MAVProxy
- Ardupilot (https://github.com/ArduPilot/ardupilot)
Build and Install
Make sure you have initialized and updated the Mavlink submodule at least once with:
git clone https://github.com/intel/gazebo-sitl.git
cd gazebo-sitl
git submodule update --init --recursive
Create a build folder, make and install using CMAKE as follows:
mkdir build
cd build
cmake ..
sudo make install
cd -
Download Gazebo models if necessary:
Gazebo automatically searches and downloads models referenced in the .world file that are not already present into GAZEBO_MODEL_PATH. However, in some cases the download might take a long time for no apparent reason. Download the Quadrotor model manually with:
cd ~
curl http://models.gazebosim.org/quadrotor/model.tar.gz | tar xvz -C GAZEBO_MODEL_PATH
mkdir ~/world
cd ~/world
git clone https://github.com/intel/gazebo-sitl.git
Run
Open a second terminal and run Ardupilot:
{ARDUPILOTDIR}/build/sitl/bin/arducopter --model x --defaults {ARDUPILOTDIR}/Tools/autotest/default_params/copter.parm
In a third terminal, run Mavprox
mavproxy.py --master tcp:127.0.0.1:5760 --out udp:127.0.0.1:15556
Open the Gazebo gzsitl_drone_target world file with the following command:
gazebo ./world/gzsitl_drone_target.world --verbose
gazebo ./world/gazebo-sitl/world/gzsitl_drone_target.world --verbose
Interaction
The Plugin first detects if the vehicle being simulated on SITL is Landed or already Airborne.
If Landed, store the initial position as home, set flight mode as guided and request take-off.
If Airborne, request home position, and keep the current flight mode.
When Airborne, the vehicle follows the transparent sphere (target).
Troubleshooting
Gazebo might fail to open if the needed models or plugins are not found. If that happens, make sure the needed plugins have been successfully built and installed into your shared libraries directory and that all the needed models are present into GAZEBO_MODEL_PATH. The Gazebo --verbose terminal output is useful for determining whether a plugin or a model has not not been found.