How to Run SITL Mode

1. make obc-sitl
   This will build the "obc/ppd", "obc/cpd", and "obc/simlink" builds, as well as the Gazebo plugins.
2. make workspace-sitl
   This will build the combined registry, XTCE, and ground displays for the "ppd", "cpd", and "simlink" builds. The next steps will require 5 different shells. Make sure to always create a python virtual environment by running make python-env from the root directory of the repo.
   Shell 1
3. cd build/obc/sitl_commander_workspace
4. ./bin/yamcs-start /opt/yamcs .
   This should launch YAMCS
   Shell 2
5. cd build/obc/simlink/host/host
6. ./start-gazebo
   This should start Gazebo
   Shell 3
7. cd build/obc/simlink/target/target/exe
8. sudo ./simlink
   This should launch Simlink. Simlink will immediately connect to the simulation and begin emulating the SED application with bridged simulation data.
   Shell 4
9. cd build/obc/ppd/sitl/target/target/exe
10. sudo SEDLIB_SHMEM_KEY_FILE=../../../../../simlink/target/target/exe/.sedlib_shmem ./airliner
    This should launch the PPD instance of Airliner with SEDLIB remapped to the registers managed by Simlink.
    Shell 5
11. cd build/obc/cpd/sitl/target/target/exe
12. sudo SEDLIB_SHMEM_KEY_FILE=../../../../../simlink/target/target/exe/.sedlib_shmem ./airliner
    This should launch the CPD instance of Airliner with SEDLIB remapped to the registers managed by Simlink.

You may now use Commander to interact with the system.