simulation-starter-script.md

Creating simulation environment starter shell script

1. Install screen and nano packages from terminal.

sudo apt-get install screen nano

2. Change directory to simulation directory.

cd && cd ardu-sim/

3. Create a shell script.

touch ardu-sim.sh

4. Open the shell script in terminal using nano.

nano ardu-sim.sh

5. Type shell shebang (specifies bash binary location) to the first line of this script.

#!/bin/bash

6. Add simulation software binary and startup procedures to the script.

screen -S vehicle -d -m bash -c "./arducopter -S --model + --speedup 1 --defaults parameters/copter.parm -I0"

7. Add MAVProxy startup procedures.

screen -S proxy -d -m bash -c "mavproxy.py --master tcp:127.0.0.1:5760 --out 127.0.0.1:14550"

8. Save the script by pressing Ctrl+X, y and ENTER.

9. Below is the final version of the ardu-sim.sh shell script.

#!/bin/bash
screen -S vehicle -d -m bash -c "./arducopter -S --model + --speedup 1 --defaults parameters/copter.parm -I0"
screen -S proxy -d -m bash -c "mavproxy.py --master tcp:127.0.0.1:5760 --out 127.0.0.1:14550"

10. Give permissions to the script.

sudo chmod +x ardu-sim.sh

11. Run the script.

./ardu-sim.sh

12. Open another terminal and connect to the vehicle using MAVProxy.

cd && cd ardu-sim/logs/

mavproxy.py --master 127.0.0.1:14550

13. To retrieve simulation software binary session, do the below.

screen -r vehicle

14. To exit the simulation software binary session, press Ctrl+a, d and ENTER.

15. To retrieve MAVProxy session, do the below.

screen -r proxy

16. To exit the MAVProxy session, press Ctrl+a, d and ENTER.

17. To stop the simulation software binary session, do the below.

screen -S vehicle -X quit

18. To stop the MAVProxy session, do the below.

screen -S proxy -X quit

19. To stop both of them at the same time, do the below.

killall screen