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2_2_Simulation_ROS_Ardupilot.md

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1 Build Gazebo environment

It is suggested to choose one gazebo version between Gazebo Garden and Gazebo 11

Main references are

1.1 Gazebo Garden

Install Gazebo Garden following the steps at Docs/Gazebo Garden-->Binary Installation on Ubuntu, which are

sudo apt-get update
sudo apt-get install lsb-release wget gnupg

and then

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-garden

To test if the installation is done, we can run

gz sim -v4 -r shapes.sdf

and it is OK if we can see

1.2 Gazebo 11

Video tutorials provided by Intelligent Quads can be found on Youtube Drone Dev Environment Ubuntu 20 04 Update

Given that our development environments are

  • Ubunt 20.04
  • ROS noetic
  • Gazebo 11.12.0
  1. install gazebo 11
    sudo apt-get install gazebo11 libgazebo11-dev
  1. get source code of Ardupilot plugins for gazebo 11.X
    cd where_you_want
    git clone https://github.com/khancyr/ardupilot_gazebo
  1. build ardupilot plugins for gazebo 11.X
    mkdir build
    cd build
    cmake ..
    make -j4
    sudo make install
    echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc
  1. add the path of models and worlds provided by ardupilot plugins into .bashrc after you change where_your_ardupilot_gazebo_is below
    echo 'export GAZEBO_MODEL_PATH=where_your_ardupilot_gazebo_is/ardupilot_gazebo/models' >> ~/.bashrc
  1. add gazebo mode path
    echo "GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$HOME/catkin_ws/src/iq_sim/models" >> ~/.bashrc
  1. launch a gazebo environment with iris model with iq_sim pkg
    • get source code of iq_sim
    git clone https://github.com/Intelligent-Quads/iq_sim.git
    • add mode path of iq_sim to gazebo
    echo "GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$HOME/catkin_ws/src/iq_sim/models" >> ~/.bashrc
    • build and resource iq_sim pkg
    • roslaunch gazebo env of iris_arducopter_runway
        roslaunch iq_sim runway.launch

2 Install and run Ardupilot firmware in simulation

2.1 Install Ardupilot

Check Youtube Drone Dev Environment Ubuntu 20 04 Update to install Ardupilot.

Read Setting up the Build Environment (Linux/Ubuntu).

2.2 Simulate a single quadrotor with Ardupilot

Run ardupilot firmware

    cd Ardupilot/ArduCopter
    sim_vehicle.py -v ArduCopter -f gazebo-iris --console
    # OR
    sim_vehicle.py -v ArduCopter --console --map

we should find an interface, a council and a terminal.

3 Enable ROS communication with Ardupilot using mavros

The ROS package mavros provides support for Ardupilot. Then we can run mavros to get drone information into ROS.

In simulation, we specify '''fcu_url:=udp://127.0.0.1:14551@14555'''.

    roslaunch mavros apm.launch fcu_url:=udp://127.0.0.1:14551@14555

With the help of mavros, we can get mavros topics in ROS showing drone information

Since we command the drone to switch to guided mode and take off to a height of 5m with

    mode guided
    arm throttle
    takeoff 5

then we check drone state and position in ROS

    rostopic echo /mavros/state
    rostopic echo /mavros/local_position/pose

with the state being guided and position being 5m

3 Test simulation of Ardupilot in Gazebo and communication using mavros

3.1 Gazebo Garden

  1. run

        gz sim -v4 -r iris_runway.sdf

  2. run Ardupilot firmware

        cd Ardupilot/ArduCopter
    sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --map --console

  3. run mavros to enable communication between Ardupilot and ROS

        roslaunch mavros apm.launch fcu_url:=udp://127.0.0.1:14551@14555

  4. make drone switch to guided mode and take off In the same terminal of running sim_vehicle.py, we use the following commands to make the drone take off

        mode guided
    arm throttle
    takeoff 5

We should see the drone take off and hover in Gazebo

if we echo rostopics /mavros/state and /mavros/local_position/pose, then we should find

  • the drone's mode is guided
  • its height is 5m.

3.2 Gazebo 11

  1. run Gazebo environment

        gazebo --verbose worlds/iris_arducopter_runway.world

  2. run Ardupilot firmware

        cd Ardupilot/ArduCopter
    ../Tools/autotest/sim_vehicle.py -f gazebo-iris --console --map

  3. -- 4. are the same with Gazebo Garden