Ardupilot Gazebo Simulation Repository

This repository contains all the source code for simulating an Ardupilot Controller in Gazebo

Maintainers:

Savio Pereira

Installation Instructions:

# Clone dependent repositories
wstool update -t src

# Add this to your .bashrc file
export GAZEBO_MODEL_PATH=<absolute_path_to_Ardupilot_Simualtion_repo>/src/mbzirc_gazebo/models

Building the sitl_gazebo package:

Set the plugin path so Gazebo finds our model and sim

export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:<absolute_path_to_Ardupilot_Simualtion_repo>/src/sitl_gazebo/Build

Set the model path so Gazebo finds the airframes

export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:<absolute_path_to_Ardupilot_Simualtion_repo>/src/sitl_gazebo/models

Disable online model lookup since this is quite experimental and unstable

export GAZEBO_MODEL_DATABASE_URI=""

Set path to sitl_gazebo repository

export SITL_GAZEBO_PATH=<absolute_path_to_Ardupilot_Simualtion_repo>/src/sitl_gazebo

Make a build directory in the sitl_gazebo package and then run cmake (make sure to add the two dots in front of cmake)

cd <absolute_path_to_Ardupilot_Simualtion_repo>/src/sitl_gazebo mkdir Build cd Build cmake ..

Autogenerate the sdf file with the command

make sdf

Now build the gazebo plugins by typing:

make

Building the px4/Firmware package:

cd <absolute_path_to_Ardupilot_Simualtion_repo>/src/Firmware make posix_sitl_default gazebo