{"id":16133845,"url":"https://github.com/wallarug/2019-capstone-software-ardupilot_gazebo","last_synced_at":"2025-04-06T15:46:18.653Z","repository":{"id":72814134,"uuid":"234022947","full_name":"wallarug/2019-capstone-software-ardupilot_gazebo","owner":"wallarug","description":null,"archived":false,"fork":false,"pushed_at":"2020-01-15T07:26:16.000Z","size":6083,"stargazers_count":0,"open_issues_count":0,"forks_count":2,"subscribers_count":2,"default_branch":"master","last_synced_at":"2025-02-12T21:46:05.505Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/wallarug.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE.md","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2020-01-15T07:25:53.000Z","updated_at":"2020-09-05T04:19:11.000Z","dependencies_parsed_at":"2023-02-23T12:31:06.488Z","dependency_job_id":null,"html_url":"https://github.com/wallarug/2019-capstone-software-ardupilot_gazebo","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wallarug%2F2019-capstone-software-ardupilot_gazebo","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wallarug%2F2019-capstone-software-ardupilot_gazebo/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wallarug%2F2019-capstone-software-ardupilot_gazebo/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wallarug%2F2019-capstone-software-ardupilot_gazebo/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/wallarug","download_url":"https://codeload.github.com/wallarug/2019-capstone-software-ardupilot_gazebo/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":247508891,"owners_count":20950230,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-10-09T22:46:15.000Z","updated_at":"2025-04-06T15:46:18.633Z","avatar_url":"https://github.com/wallarug.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Ardupilot Gazebo plugin \n\n## Requirements :\nNative Ubuntu able to run full 3D graphics.\nGazebo version 8.x or greater\nThe dev branch will works on gazebo \u003e= 8.x  \nFor Gazebo 7 use branch gazebo7\n\n## Disclamer : \nThis is a playground until I get some time to push the correct patch to gazebo master (I got hard time to work with mercurial..)!  \nSo you can expect things to not be up-to-date.  \nThis assume that your are using Ubuntu 16.04 or Ubuntu 18.04\n\n## Usage :\nI assume you already have Gazebo installed with ROS (or without).  \nIf you don't have it yet, install ROS with sudo apt install ros-melodic-desktop-full \n(follow instruction here http://wiki.ros.org/melodic/Installation/Ubuntu).  \nDue to a bug in current gazebo release from ROS, please update gazebo with OSRF version from http://gazebosim.org/tutorials?tut=install_ubuntu\n\nlibgazeboX-dev must be installed, X be your gazebo version (9 on ROS melodic).\n\nFor Gazebo X\n````\nsudo apt-get install libgazeboX-dev\n````\n\n````\ngit clone https://github.com/khancyr/ardupilot_gazebo\ncd ardupilot_gazebo\nmkdir build\ncd build\ncmake ..\nmake -j4\nsudo make install\n````\n\n````\necho 'source /usr/share/gazebo/setup.sh' \u003e\u003e ~/.bashrc\n````\n\nSet Path of Gazebo Models (Adapt the path to where to clone the repo)\n````\necho 'export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models' \u003e\u003e ~/.bashrc\n````\n\nSet Path of Gazebo Worlds (Adapt the path to where to clone the repo)\n````\necho 'export GAZEBO_RESOURCE_PATH=~/ardupilot_gazebo/worlds:${GAZEBO_RESOURCE_PATH}' \u003e\u003e ~/.bashrc\n````\n\n````\nsource ~/.bashrc\n````\n\nDONE !\n\nNow launch a world file with a copter/rover/plane and ardupilot plugin, and it should work! \n(I will try to add some world file and model later)\n\n## HELP\n\nHow to Launch :  \nLaunch Ardupilot Software In the Loop Simulation for each vehicle.\nOn new terminal, Launch Gazebo with basic demo world.\n\n#####ROVER (no model provided for now)\n\nOn 1st Terminal(Launch Ardupilot SITL)\n````\nsim_vehicle.py -v APMrover2 -f gazebo-rover --map --console\n````\n\nOn 2nd Termianal(Launch Gazebo with demo Rover model)\n````\ngazebo --verbose worlds/ (Please Add if there is one.)\n````\n\n##### COPTER\n\nOn 1st Terminal(Launch Ardupilot SITL)\n````\nsim_vehicle.py -v ArduCopter -f gazebo-iris --map --console\n````\n\nOn 2nd Terminal(Launch Gazebo with demo 3DR Iris model)\n````\ngazebo --verbose worlds/iris_arducopter_runway.world\n````\n\n##### PLANE\n\nOn 1st Terminal(Launch Ardupilot SITL)\n````\nsim_vehicle.py -v ArduPlane -f gazebo-zephyr --map --console\n````\n\nOn 2nd Terminal(Launch Gazebo with demo Zephyr flying wing model)\n````\ngazebo --verbose worlds/zephyr_ardupilot_demo.world\n````\n\nIn addition, you can use any GCS of Ardupilot locally or remotely (will require connection setup).\nIf MAVProxy Developer GCS is uncomportable. Omit --map --console arguments out of SITL launch. and Use APMPlanner 2 or QGroundControl instead.\nLocal connection with APMPlanner2/QGroundControl is automatic, and recommended.\n\n## Troubleshooting\n\n### Missing libArduPilotPlugin.so... etc \n\nIn case you see this message when you launch gazebo with demo worlds, check you have no error after sudo make install.  \nIf no error use \"ls\" on the install path given to see if the plugin is really here.  \nIf this is correct, check with \"cat /usr/share/gazebo/setup.sh\" the variable GAZEBO_PLUGIN_PATH. It should be the same as the install path. If not use \"cp\" to copy the lib to right path. \n\nFor Example\n\n````\nsudo cp -a /usr/lib/x86_64-linux-gnu/gazebo-7.0/plugins/ /usr/lib/x86_64-linux-gnu/gazebo-7/\n````\n\npath mismatch is confirmed as ROS's glitch. It will be fixed.\n\n### Future(not activated yet)\nTo use Gazebo gps, you must offset the heading of +90° as gazebo gps is NWU and ardupilot is NED \n(I don't use GPS altitude for now)  \nexample : for SITL default location\n````\n    \u003cspherical_coordinates\u003e\n      \u003csurface_model\u003eEARTH_WGS84\u003c/surface_model\u003e\n      \u003clatitude_deg\u003e-35.363261\u003c/latitude_deg\u003e\n      \u003clongitude_deg\u003e149.165230\u003c/longitude_deg\u003e\n      \u003celevation\u003e584\u003c/elevation\u003e\n      \u003cheading_deg\u003e87\u003c/heading_deg\u003e\n    \u003c/spherical_coordinates\u003e\n````\nRangefinder\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fwallarug%2F2019-capstone-software-ardupilot_gazebo","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fwallarug%2F2019-capstone-software-ardupilot_gazebo","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fwallarug%2F2019-capstone-software-ardupilot_gazebo/lists"}