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https://github.com/ardupilot/ardupilot_gazebo
Plugins and models for vehicle simulation in Gazebo Sim with ArduPilot SITL controllers
https://github.com/ardupilot/ardupilot_gazebo
ardupilot gazebo simulation sitl
Last synced: 5 days ago
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Plugins and models for vehicle simulation in Gazebo Sim with ArduPilot SITL controllers
- Host: GitHub
- URL: https://github.com/ardupilot/ardupilot_gazebo
- Owner: ArduPilot
- License: lgpl-3.0
- Created: 2021-10-03T13:49:16.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2024-11-04T18:18:18.000Z (3 months ago)
- Last Synced: 2025-01-18T18:12:23.499Z (12 days ago)
- Topics: ardupilot, gazebo, simulation, sitl
- Language: C++
- Homepage:
- Size: 39.1 MB
- Stars: 107
- Watchers: 14
- Forks: 103
- Open Issues: 14
-
Metadata Files:
- Readme: README.md
- Contributing: .github/CONTRIBUTING.md
- License: LICENSE.md
- Support: .github/SUPPORT.md
Awesome Lists containing this project
README
# ArduPilot Gazebo Plugin
[](https://github.com/ArduPilot/ardupilot_gazebo/actions/workflows/ubuntu-build.yml)
[](https://github.com/ArduPilot/ardupilot_gazebo/actions/workflows/ccplint.yml)
[](https://github.com/ArduPilot/ardupilot_gazebo/actions/workflows/ccpcheck.yml)
This is the official ArduPilot plugin for [Gazebo](https://gazebosim.org/home).
It replaces the previous
[`ardupilot_gazebo`](https://github.com/khancyr/ardupilot_gazebo)
plugin and provides support for the recent releases of the Gazebo simulator
[(Gazebo Garden)](https://gazebosim.org/docs/garden/install) and [(Gazebo Harmonic)](https://gazebosim.org/docs/harmonic/install).
It also adds the following features:
- More flexible data exchange between SITL and Gazebo using JSON.
- Additional sensors supported.
- True simulation lockstepping. It is now possible to use GDB to stop
the Gazebo time for debugging.
- Improved 3D rendering using the `ogre2` rendering engine.
The project comprises a Gazebo plugin to connect to ArduPilot SITL
(Software In The Loop) and some example models and worlds.
## Prerequisites
Gazebo Garden or Harmonic is supported on Ubuntu 22.04 (Jammy).
Harmonic is recommended.
If you are running Ubuntu as a virtual machine you will need at least
Ubuntu 20.04 in order to have the OpenGL support required for the
`ogre2` render engine. Gazebo and ArduPilot SITL will also run on macOS
(Big Sur, Monterey and Venturua; Intel and M1 devices).
Follow the instructions for a binary install of
[Gazebo Garden](https://gazebosim.org/docs/garden/install) or [Gazebo Harmonic](https://gazebosim.org/docs/harmonic/install)
and verify that Gazebo is running correctly.
Set up an [ArduPilot development environment](https://ardupilot.org/dev/index.html).
In the following it is assumed that you are able to run ArduPilot SITL using
the [MAVProxy GCS](https://ardupilot.org/mavproxy/index.html).
## Installation
Install additional dependencies:
### Ubuntu
#### Garden (apt)
Manual - Gazebo Garden Dependencies:
```bash
sudo apt update
sudo apt install libgz-sim7-dev rapidjson-dev
sudo apt install libopencv-dev libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl
```
#### Harmonic (apt)
Manual - Gazebo Harmonic Dependencies:
```bash
sudo apt update
sudo apt install libgz-sim8-dev rapidjson-dev
sudo apt install libopencv-dev libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl
```
#### Rosdep
Use rosdep with
[osrf's rosdep rules](https://github.com/osrf/osrf-rosdep?tab=readme-ov-file#1-use-rosdep-to-resolve-gazebo-libraries)
to manage all dependencies. This is driven off of the environment variable `GZ_VERSION`.
```bash
export GZ_VERSION=harmonic # or garden
sudo bash -c 'wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list -O /etc/ros/rosdep/sources.list.d/00-gazebo.list'
rosdep update
rosdep resolve gz-harmonic # or gz-garden
# Navigate to your ROS workspace before the next command.
rosdep install --from-paths src --ignore-src -y
```
### macOS
```bash
brew update
brew install rapidjson
brew install opencv gstreamer
```
Ensure the `GZ_VERSION` environment variable is set to either
`garden` or `harmonic`.
Clone the repo and build:
```bash
git clone https://github.com/ArduPilot/ardupilot_gazebo
cd ardupilot_gazebo
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
make -j4
```
## Configure
Set the Gazebo environment variables in your `.bashrc` or `.zshrc` or in
the terminal used to run Gazebo.
#### Terminal
Assuming that you have cloned the repository to `$HOME/ardupilot_gazebo`:
```bash
export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH
export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH
```
#### .bashrc or .zshrc
Assuming that you have cloned the repository to `$HOME/ardupilot_gazebo`:
```bash
echo 'export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH}' >> ~/.bashrc
echo 'export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:${GZ_SIM_RESOURCE_PATH}' >> ~/.bashrc
```
Reload your terminal with `source ~/.bashrc` (or `source ~/.zshrc` on macOS).
## Usage
### 1. Iris quad-copter
#### Run Gazebo
```bash
gz sim -v4 -r iris_runway.sdf
```
The `-v4` parameter is not mandatory, it shows additional information and is
useful for troubleshooting.
#### Run ArduPilot SITL
To run an ArduPilot simulation with Gazebo, the frame should have `gazebo-`
in it and have `JSON` as model. Other commandline parameters are the same
as usual on SITL.
```bash
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --map --console
```
#### Arm and takeoff
```bash
STABILIZE> mode guided
GUIDED> arm throttle
GUIDED> takeoff 5
```
### 2. Zephyr delta wing
The Zephyr delta wing is positioned on the runway for vertical take-off.
#### Run Gazebo
```bash
gz sim -v4 -r zephyr_runway.sdf
```
#### Run ArduPilot SITL
```bash
sim_vehicle.py -v ArduPlane -f gazebo-zephyr --model JSON --map --console
```
#### Arm, takeoff and circle
```bash
MANUAL> mode fbwa
FBWA> arm throttle
FBWA> rc 3 1800
FBWA> mode circle
```
#### Increase the simulation speed
The `zephyr_runway.sdf` world has a `` element configured to run
faster than real time:
```xml
0.001
-1.0
```
To see the effect of the speed-up set the param `SIM_SPEEDUP` to a value
greater than one:
```bash
MANUAL> param set SIM_SPEEDUP 10
```
### 3. Streaming camera video
Images from camera sensors may be streamed with GStreamer using
the `GstCameraPlugin` sensor plugin. The example gimbal models include the
plugin element:
```xml
127.0.0.1
5600
true
false
```
The `` and `` parameters are deduced from the
topic name for the camera sensor, but may be overriden if required.
The `gimbal.sdf` world includes a 3 degrees of freedom gimbal with a
zoomable camera. To start streaming:
```bash
gz topic -t /world/gimbal/model/mount/model/gimbal/link/pitch_link/sensor/camera/image/enable_streaming -m gz.msgs.Boolean -p "data: 1"
```
Display the streamed video:
```bash
gst-launch-1.0 -v udpsrc port=5600 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink sync=false
```
View the streamed camera frames in [QGC](http://qgroundcontrol.com/):
`Open QGC > Application Settings > Video Settings > Select UDP h.264 Video Stream & use port 5600`
### 4. Using 3d Gimbal
The Iris model is equipped with a 3d gimbal and camera that can be controlled directly in MAVProxy using the RC overrides.
#### Run Gazebo
```bash
gz sim -v4 -r iris_runway.sdf
```
#### Run ArduPilot SITL with a specified parameter file
```bash
cd ardupilot
sim_vehicle.py -D -v ArduCopter -f JSON --add-param-file=$HOME/ardupilot_gazebo/config/gazebo-iris-gimbal.parm --console --map
```
Control action for gimbal over RC channel:
| Action | Channel | RC Low | RC High |
| ------------- | ------------- | ------------- | ------------- |
| Roll | RC6 | Roll Left | Roll Right |
| Pitch | RC7 | Pitch Down | Pitch Up |
| Yaw | RC8 | Yaw Left | Yaw Right |
Example usage:
`rc 6 1100` - Gimbal rolls left
`rc 7 1900` - Gimbal pitch upwards
`rc 8 1500` - Gimbal yaw neutral
## Models
In addition to the Iris and Zephyr models included here, a selection
of models configured use the ArduPilot Gazebo plugin is available in
[ArduPilot/SITL_Models](https://github.com/ArduPilot/SITL_Models).
Click on the images to see further details.
## Troubleshooting
For issues concerning installing and running Gazebo on your platform please
consult the Gazebo documentation for [troubleshooting frequent issues](https://gazebosim.org/docs/harmonic/troubleshooting#ubuntu).