simulation

Running simulation:

Install

Install Ignition Gazebo Fortress:

sudo apt install ros-humble-ros-gz

Install Ignition Gazebo Fortress dependencies:

sudo apt install rapidjson-dev libignition-gazebo6-dev ros-humble-image-transport ros-humble-ros-gz-bridge

Build with:

cd $HOME/drone-knr/src/simulation/drone_sim/
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
make -j4

Setting env vars to include custom models

Set the ignition environment variables in your .bashrc or in the terminal used to run gazebo:

In terminal

Assuming that you have clone the repository in $HOME/drone-knr/:

export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$HOME/drone-knr/src/simulation/drone_sim/build:$IGN_GAZEBO_SYSTEM_PLUGIN_PATH
export IGN_GAZEBO_RESOURCE_PATH=$HOME/drone-knr/src/simulation/drone_sim/models:$HOME/drone-knr/src/simulation/drone_sim/worlds:$IGN_GAZEBO_RESOURCE_PATH

In .bashrc

Assuming that you have clone the repository in $HOME/drone-knr/:

echo 'export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$HOME/drone-knr/src/simulation/drone_sim/build:$IGN_GAZEBO_SYSTEM_PLUGIN_PATH' >> ~/.bashrc
echo 'export IGN_GAZEBO_RESOURCE_PATH=$HOME/drone-knr/src/simulation/drone_sim/models:$HOME/drone-knr/src/simulation/drone_sim/worlds:$IGN_GAZEBO_RESOURCE_PATH' >> ~/.bashrc

Reload your terminal with source ~/.bashrc

Run Simulation

Run Ardupilot/SITL

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

Run Gazebo simulation

ign gazebo -r -v 1 tree_of_life.sdf

• -r flag makes the simulation run on startup.
• -v 1-4 flag sets the logging level (4 for everything, 1 only for errors).
• tree_of_life.sdf is the name of the world we want to run, located in our project in $HOME/drone-knr/src/simulation/drone_sim/wolrds/

Run ROS GZ Bridge

In order to receive camera image in ROS we have to provide a Bridge between simulation and ROS.

ros2 run ros_gz_image image_bridge camera

Alternatively, we can use launch file (only after building package, and sourcing setup script):

ros2 launch simulation drone_sim_launch.py

Arm and takeoff

In order to controll the drone one may use SITL terminal and MAVLink commands, eg.:

STABILIZE> mode guided
GUIDED> arm throttle
GUIDED> takeoff 5
GUIDED> mode auto