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https://github.com/ardupilot/ardupilot_gz
Tools for ArduPilot ROS2 integration and testing on ROS 2 humble
https://github.com/ardupilot/ardupilot_gz
gazebo gazebo-simulator ros2 ros2-humble simulation
Last synced: 5 days ago
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Tools for ArduPilot ROS2 integration and testing on ROS 2 humble
- Host: GitHub
- URL: https://github.com/ardupilot/ardupilot_gz
- Owner: ArduPilot
- License: gpl-3.0
- Created: 2023-03-14T02:29:15.000Z (almost 2 years ago)
- Default Branch: main
- Last Pushed: 2024-11-08T18:34:15.000Z (3 months ago)
- Last Synced: 2025-01-16T14:51:46.337Z (15 days ago)
- Topics: gazebo, gazebo-simulator, ros2, ros2-humble, simulation
- Language: Python
- Homepage:
- Size: 68.4 KB
- Stars: 39
- Watchers: 9
- Forks: 29
- Open Issues: 15
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# ardupilot_gz
This project contains ROS 2 packages for simulating models controlled
by ArduPilot SITL with DDS support in Gazebo.
The project is adapted from the [`ros_gz_project_template`](https://github.com/gazebosim/ros_gz_project_template) project.
## Included packages
* `ardupilot_gz_description` - Contains the SDFormat description of the simulated
system.
* `ardupilot_gz_gazebo` - Contains Gazebo specific code such as system plugins.
* `ardupilot_gz_application` - Contains ROS 2 specific code and configuration.
* `ardupilot_gz_bringup` - Contains launch files and high level utilities.
## Prerequisites
- Install [ROS 2 Humble](https://docs.ros.org/en/humble/index.html)
- Install [Gazebo Harmonic (recommended)](https://gazebosim.org/docs/harmonic) or [Gazebo Garden](https://gazebosim.org/docs/garden)
- Follow the [`Installing Build Dependencies`](https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_DDS#installing-build-dependencies) section of `AP_DDS`'s README
## Install
#### 1. Create a workspace folder
```bash
mkdir -p ~/ros2_ws/src
```
#### 2. Get the project source
```bash
cd ~/ros2_ws
vcs import --input https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos --recursive src
```
#### 3. Set the Gazebo version to Harmonic or Garden:
It is recommended to put this in your `~/.bashrc` or equivalent file.
```bash
export GZ_VERSION=harmonic
```
#### 4. Update ROS dependencies
```bash
cd ~/ros2_ws
source /opt/ros/humble/setup.bash
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -y
```
#### 5. Build
```bash
cd ~/ros2_ws
colcon build
```
#### 6. Test
```bash
source ./install/setup.bash
colcon test --packages-select ardupilot_sitl ardupilot_dds_tests ardupilot_gazebo ardupilot_gz_applications ardupilot_gz_description ardupilot_gz_gazebo ardupilot_gz_bringup
colcon test-result --all --verbose
```
## Usage
#### 1. Source the workspace
```bash
source ~/ros2_ws/install/setup.sh
```
#### 2. Launch the simulation
```bash
ros2 launch ardupilot_gz_bringup iris_runway.launch.py rviz:=true use_gz_tf:=true
```
#### 3. Launch a GCS (MAVPorxy)
```bash
mavproxy.py --master udp:127.0.0.1:14550 --console --map
```
#### 4. Inspect topics
```bash
$ ros2 topic list
/ap/battery/battery0
/ap/clock
/ap/navsat/navsat0
/ap/tf_static
/clicked_point
/clock
/goal_pose
/initialpose
/iris/odometry
/joint_states
/parameter_events
/robot_description
/rosout
/tf
/tf_static
```
## Advanced variations
Here's a list of all the additional use cases from this repository:
### 1. Iris Maze
This simulation has an iris copter equipped with a 360 degrees 2d lidar in a maze world.
```bash
ros2 launch ardupilot_gz_bringup iris_maze.launch.py rviz:=true use_gz_tf:=true
```
### 2. Wild Thumper playpen
This simulation includes a skid-steer rover equipped with a 2d lidar in a playpen world.
```bash
ros2 launch ardupilot_gz_bringup wildthumper_playpen.launch.py rviz:=true use_gz_tf:=true
```
## Notes
### 1. Additional dependencies
`ros_gz` has a dependency on `gps_msgs` included in
```bash
git clone https://github.com/swri-robotics/gps_umd.git -b ros2-devel
```
When building from source add `COLCON_IGNORE` to `gpsd_client` as
this package is not required and will not build on macOS.
### 2. `sdformat_urdf`
#### 2.1. Library extension
On macOS the `robot_state_publisher` node cannot load the
`sdformat_urdf_plugin` plugin unless the extension is changed:
```bash
cd ./install/sdformat_urdf/lib
ln -s libsdformat_urdf_plugin.so libsdformat_urdf_plugin.dylib
```
#### 2.3. Model URIs
The `sdformat_urdf` plugin requires the `` element to use
the `package://` prefix for a resource to be located by RViz. At present
this requires the models to be edited.
All occurrences of
`model://{model_name}`
must be replaced with
`package://{package_name}/models/{model_name}`
#### 2.4. SDFormat environment variables
The `sdformat_urdf` plugin uses the `sdformat13` libraries to parse the
model description which relies on the environment variable
`SDF_PATH` to resolve model resources. This is usually set in `gz-sim7`,
however when using the plugins standalone, for instance in the bring-up
launch files, `SDF_PATH` must be set otherwise the plugin will not resolve
the models and their dependencies.
```bash
source ~/ros2_ws/install/setup.sh
export SDF_PATH=$GZ_SIM_RESOURCE_PATH
```
This is assigned in the `iris.launch.py` file as `SDF_PATH` is not usually set
by the `ament` environment hooks.