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https://github.com/PX4/PX4-SITL_gazebo

Set of plugins, models and worlds to use with OSRF Gazebo Simulator in SITL and HITL.
https://github.com/PX4/PX4-SITL_gazebo

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Set of plugins, models and worlds to use with OSRF Gazebo Simulator in SITL and HITL.

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README 

        
# PX4 Gazebo Plugin Suite for MAVLink SITL and HITL



[![Build Status](https://github.com/PX4/sitl_gazebo/workflows/Build%20Tests/badge.svg)](https://github.com/PX4/sitl_gazebo/actions?query=workflow%3A%22Build+Tests%22) [![MacOS Build Tests](https://github.com/PX4/sitl_gazebo/workflows/MacOS%20Build%20Tests/badge.svg)](https://github.com/PX4/sitl_gazebo/actions?query=workflow%3A%22MacOS+Build+Tests%22) 



This is a flight simulator for rovers, boats, multirotors, VTOL, fixed wing. It uses the motor model and other pieces from the RotorS simulator, but in contrast to RotorS has no dependency on ROS. Original project: https://github.com/ethz-asl/rotors_simulator.



**If you use this simulator in academic work, please cite RotorS as per the README in the above link.**



# Installation



This simulator is designed to be used with the PX4 Autopilot. Please follow the official developer toolchain installation instructions:

http://docs.px4.io/main/en/sim_gazebo_classic/



# Contributing and Testing



Please refer to the installations instructions above for normal usage and to get the development environment installed. This section covers specifics for developers interested to contribute to the simulator.



## *sitl_gazebo* plugin dependencies



Some plugins on this packages require some specific dependencies:



* Protobuf is required to generate custom protobuf messages to be published and subscribed between topics of different plugins;

* Jinja 2 is used to generate some SDF models from templates;

* Gstreamer is required for a plugin that streams video from a simulated camera.



## Build *sitl_gazebo*



Clone the repository to your computer.



**IMPORTANT: If you do not clone to ~/src/sitl_gazebo, all remaining paths in these instructions will need to be adjusted.**



```bash

mkdir -p ~/src

cd src

git clone --recursive https://github.com/PX4/sitl_gazebo.git

```



Create a build folder in the top level of your repository:



```bash

mkdir build

```



Navigate into the build directory and invoke CMake from it:



```bash

cd ~/src/sitl_gazebo

cd build

cmake ..

```



Now build the gazebo plugins by typing:



```bash

make -j$(nproc) -l$(nproc)

```



Next add the location of this build directory to your gazebo plugin path, e.g. add the following line to your `.bashrc` (Linux) or `.bash_profile` (Mac) file:



```bash

# Set the plugin path so Gazebo finds our model and sim

export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:$HOME/src/sitl_gazebo/build

# Set the model path so Gazebo finds the airframes

export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$HOME/src/sitl_gazebo/models

# Disable online model lookup since this is quite experimental and unstable

export GAZEBO_MODEL_DATABASE_URI=""

```



You also need to add the the root location of this repository, e.g. add the following line to your `.bashrc` (Linux) or `.bash_profile` (Mac) file:



```bash

# Set path to sitl_gazebo repository

export SITL_GAZEBO_PATH=$HOME/src/sitl_gazebo

```



## Install



If you wish the libraries and models to be usable anywhere on your system without

specifying th paths, install as shown below.



**Note: If you are using Ubuntu, it is best to see the packaging section.**



```bash

sudo make install

```



## Testing



Gazebo will now launch when typing 'gazebo' on the shell:



```bash

. /usr/share/gazebo/setup.sh

. /usr/share/mavlink_sitl_gazebo/setup.sh

gazebo worlds/iris.world

```



Please refer to the documentation of the particular flight stack how to run it against this framework, e.g. [PX4](http://dev.px4.io/simulation-gazebo.html)



### Unit Tests



For building and running test an installation of 'googletest' is needed.



On Ubuntu it can be installed with:



```bash

sudo apt-get install libgtest-dev

cd /usr/src/googletest

sudo cmake . && cd googletest

sudo make -j$(nproc) -l$(nproc)

sudo cp *.a /usr/lib

```



On macOS it needs to be installed from source:



```bash

git clone https://github.com/google/googletest

pushd googletest

mkdir build

pushd build

cmake ..

make -j$(nproc) -l$(nproc)

make install

```



When writing test it’s important to be careful which API functions of Gazebo are called. As no Gazebo server is running during the tests some functions can produce undefined behaviour (e.g. segfaults).



## CUDA Hardware Accelerated H264 encoding (optional)



1. Download CUDA 10.0 from https://developer.nvidia.com/cuda-toolkit-archive.

2. Download Video Codec SDK 9.0 from https://developer.nvidia.com/video-codec-sdk-archive.

3. Install both archives:



```bash

wget https://raw.githubusercontent.com/jackersson/env-setup/master/gst-nvidia-docker/install_video_codec_sdk.sh

chmod +x install_video_codec_sdk.sh

sudo ./install_video_codec_sdk.sh

sudo dpkg -i cuda-repo-ubuntu*.deb

sudo apt-key add /var/cuda-repo-/7fa2af80.pub

sudo apt-get update

sudo apt-get install cuda

```



4. Reboot your system and run the command `nvidia-smi` to verify the successul installation of CUDA.

5. Install GStreamer 1.18.3:



```bash

git clone https://github.com/GStreamer/gst-build -b 1.18.3

cd gst-build

meson -Dbuildtype=release -Dstrip=true -Dgst-plugins-bad:introspection=enabled -Dgst-plugins-bad:nvcodec=enabled builddir

ninja -C builddir

sudo meson install -C builddir

```



6. Add `true` to any `gazebo_gst_camera_plugin` in a SDF file. For example `./models/fpv_cam/fpv_cam.sdf`.



#### *catkin tools*



With *catkin*, the unit tests are enabled by default.



```bash

# After setting up the catkin workspace

catkin build -j4 -l4 -DBUILD_ROS_PLUGINS=ON

cd build/mavlink_sitl_gazebo/

catkin run_tests

```



#### Plain CMake



For building the tests with plain CMake, the flag `ENABLE_UNIT_TESTS` needs to be provided.



```bash

mkdir build && cd build

cmake -DENABLE_UNIT_TESTS=On ..

```



Then build and run the tests:



```bash

make -j$(nproc) -l$(nproc)

make test

```



## Packaging



### Debian packages



To create a debian package for Ubuntu and install it to your system.



```bash

cd Build

cmake ..

make

rm *.deb

cpack -G DEB

sudo dpkg -i *.deb

```