Ardupilot Gazebo plugin

This plug-in to operate multiple fixed-wing aircraft using ROS in a virtual world that supports barcodes and cameras.

Requirements

• Ubuntu 20.04
• Gazebo Classic 11
• ROS-Noetic

Setup：

Gazebo and Plugin Installation

sudo apt-get install libgazebo11-dev	
git clone https://github.com/Haris-Alsaman/ardupilot_gazebo.git
cd ardupilot_gazebo
mkdir build
cd build
cmake ..
make -j4
sudo make install

Configure Environment Variables

Open the .bashrc file:

sudo vim ~/.bashrc

Add the following lines to the end of the file:

source /usr/share/gazebo/setup.sh
export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models:${GAZEBO_MODEL_PATH}
export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models_gazebo:${GAZEBO_MODEL_PATH}
export GAZEBO_RESOURCE_PATH=~/ardupilot_gazebo/worlds:${GAZEBO_RESOURCE_PATH}
export GAZEBO_PLUGIN_PATH=~/ardupilot_gazebo/build:${GAZEBO_PLUGIN_PATH}

Reload the .bashrc file to apply the changes:

source ~/.bashrc

install MAVROS

sudo apt install ros-noetic-mavros* -y 
cd /opt/ros/noetic/lib/mavros
sudo chmod +x install_geographiclib_datasets.sh
sudo ./install_geographiclib_datasets.sh

Build ROS Workspace

1. Build the ROS workspace:

cd ardupilot_gazebo/ros/
catkin_make  #First Time
source devel/setup.bash  

2. Before running Gazebo, obtain the necessary files from PX4:

• Copy 'libgazebo_camera_manager_plugin.so' and 'libgazebo_gst_camera_plugin.so' From PX4 to the build folder.
• Copy the gazebo-zephyr.parm file from this folder to ardupilot/Tools/autotest/default_params.

Run Sim With out gazebo for test

sim_vehicle.py -v ArduPlane -f gazebo-zephyr --console  --out=127.0.0.1:14550 -I0 --sysid=1  

Simplify Your Workflow

source Ros and Scripts

Open the .bashrc file:

sudo vim ~/.bashrc

Add the following lines to the end of the file:

source ~/ardupilot_gazebo/ros/devel/setup.bash
export PATH=$PATH:~/ardupilot_gazebo/scripts

Reload the .bashrc file to apply the changes:

source ~/.bashrc

Run Simulations with There Commands

You can start the Gazebo simulation and planes from anywhere with these commands:

1. Start Gazebo and Multiple Planes.

start_gazebo_multi_plane.sh

2. Start Planes Individually:

start_1_plane.sh
start_2_plane.sh
start_3_plane.sh

Run Gazebo And 3 Planes With One Command

all_planes.sh