Ardupilot和Gazebo的环境搭建

Ardupilot和Gazebo

1. 安装Ubuntu 22.04

2. 安装Arduilot
   • 克隆ArduPilot仓库

     git clone https://github.com/ArduPilot/ardupilot.git
     

   • 编译

     cd ardupilot
     git submodule update --init --recursive
     Tools/environment_install/install-prereqs-ubuntu.sh -y
     

   • 环境配置

     pwd
     /home/daniel/ardupilot
     
     export PATH=$PATH:<ardupilot path>/Tools/autotest
     export PATH=/usr/lib/ccache:$PATH
     
     . ~/.profile
     
     

   • 编译配置

     ./waf configure --board sitl
     

   • 测试

     sim_vehicle.py -w -v ArduCopter
     

3. 安装Gazebo Harmonic
   • 添加官方软件源和密钥 在终端中依次执行以下命令，添加Gazebo的官方软件仓库

     sudo apt-get update
     sudo apt-get install curl
     sudo curl https://packages.osrfoundation.org/gazebo.gpg -o /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
     echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
     

   • 安装 Gazebo Harmonic 更新软件列表并安装：

     sudo apt-get update
     sudo apt-get install gz-harmonic
     

   • 验证安装完成后 您可以通过运行 gz sim --version来验证是否成功。

4. 安装Arduilot_gazebo插件

   • Harmonic (apt)

     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
     

   • 克隆仓库并构建：

     git clone https://github.com/ArduPilot/ardupilot_gazebo
     cd ardupilot_gazebo
     mkdir build && cd build
     cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
     make -j4
     

   • 假设您已将存储库克隆到： $HOME/ardupilot_gazebo:

     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
     

5. 安装MavProxy
   • 安装依赖

     sudo apt-get install python3-dev python3-opencv python3-wxgtk4.0 python3-pip python3-matplotlib python3-lxml python3-pygame
     python3 -m pip install PyYAML mavproxy --user
     echo 'export PATH="$PATH:$HOME/.local/bin"' >> ~/.bashrc
     

   • 更新

     pip3 install mavproxy pymavlink --user --upgrade
     

6. 启动gazebo和ardupilot

   • 启动gazebo

     cd ardupilot_gazebo
     gz sim -v4 -r iris_runway.sdf --render-engine ogre
     

     

   • 启动ardupilot

     cd ardupilot
     sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --map --console
     

     

   • 等待传感器初始化完成后解锁执行任务

     mode guided // 切换到引导模式
     arm throttle //解锁
     takeoff 5 //起飞高度5m
     position 0 0 3 //位置设置为(0,0,3) m
     position 100 100 0 //位置设置为(100,100,0) m
     position 100 -200 0 //位置设置为(100,-200,0) m
     rtl