Ardupilot和Gazebo的环境搭建

Ardupilot和Gazebo

安装Ubuntu 22.04

安装Arduilot

克隆ArduPilot仓库

bash 复制代码

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

编译

bash 复制代码

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

环境配置

bash 复制代码

pwd
/home/daniel/ardupilot

export PATH=$PATH:<ardupilot path>/Tools/autotest
export PATH=/usr/lib/ccache:$PATH

. ~/.profile

编译配置
bash 复制代码
```
./waf configure --board sitl
```
测试
bash 复制代码
```
sim_vehicle.py -w -v ArduCopter
```

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

bash 复制代码

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：
bash 复制代码
```
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。

安装Arduilot_gazebo插件

Harmonic (apt)

bash 复制代码

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：

bash 复制代码

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:

bash 复制代码

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

安装MavProxy

安装依赖

bash 复制代码

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

bash 复制代码

pip3 install mavproxy pymavlink --user --upgrade

启动gazebo和ardupilot

启动gazebo

bash 复制代码

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

启动ardupilot

bash 复制代码

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

bash 复制代码

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