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Winter School 2022 (www.fit.tsu.ru/robotics)

Recommended Software (Links and instructions to the above mentioned software are given below):

  1. Ubuntu 18.04
  2. Robot Operating System(ROS) - Melodic
  3. Ardupilot Repository
  4. ardupilot_gazeebo repository
  5. Git (sudo apt-get install git)
  6. pymavlink (pip install pymavlink)
  7. MAVROS

Ubuntu 18.04

 https://releases.ubuntu.com/18.04/

Robot Operating System(ROS) - Melodic

http://wiki.ros.org/melodic/Installation/Ubuntu

Install the ros melodic full desktop.

MAVROS (optional)

https://github.com/mavlink/mavros/tree/master/mavros#installation

Ardupilot Repository

git clone https://github.com/ArduPilot/ardupilot.git
cd ardupilot
git submodule update --init --recursive
Tools/environment_install/install-prereqs-ubuntu.sh -y
. ~/.profile
./waf configure --board CubeBlack
./waf copter

Reffer bellow for links, and troubleshooting guide :

  1. https://ardupilot.org/dev/docs/building-setup-linux.html#building-setup-linux
  2. https://github.com/ArduPilot/ardupilot/blob/master/BUILD.md
  3. https://ardupilot.org/dev/docs/learning-ardupilot-the-example-sketches.html

ardupilot_gazeebo repository

git clone https://github.com/SwiftGust/ardupilot_gazebo
cd ardupilot_gazebo
mkdir build
cd build
cmake ..
make -j4
sudo make install

Set Path of Gazebo Models / Worlds... Open up .bashrc

sudo gedit ~/.bashrc

Copy & Paste following at the end of .bashrc file Use the correct path, will varry on the installation location

source /usr/share/gazebo/setup.sh

export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models:${GAZEBO_MODEL_PATH}
export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models_gazebo:${GAZEBO_MODEL_PATH}
export GAZEBO_RESOURCE_PATH=~/ardupilot_gazebo/worlds:${GAZEBO_RESOURCE_PATH}
export GAZEBO_PLUGIN_PATH=~/ardupilot_gazebo/build:${GAZEBO_PLUGIN_PATH}

Install is complete

То run the simulator -

gnome-terminal -- bash -c "roscore"
gnome-terminal -- bash -c "sleep 5;rosrun gazebo_ros gazebo --verbose iris_ardupilot.world"
sim_vehicle.py -v ArduCoptor -f gazebo-iris -m --mav10 --console -IO

То run the simulator without gazebo(performance bound systems)-

sim_vehicle.py -v ArduCoptor --console --map

Task - Use the qgroudcontrol groundstation to connect to the simulator and upload 4 waypoints to the flight navigation system and launch the mission. Record a video or take multiple screenshots and upload it to the given portal.

Reffer bellow for links, and troubleshooting guide :

  1. https://github.com/SwiftGust/ardupilot_gazebo
  2. https://ardupilot.org/dev/docs/sitl-simulator-software-in-the-loop.html
  3. https://ardupilot.org/dev/docs/using-gazebo-simulator-with-sitl.html