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Ardupilot SITL with gazebo and mavros

Robotics / uav / ardupilot

Run Ardupilot SITL (ver 4.6.1) with mavros and gazebo simulation (harmonic)

Gimbal

TBD

tbd

SITL

Run without gazebo

run sitl
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./arducopter --model copter --defaults copter.parm  -I0
copter.param
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FRAME_CLASS 1
FRAME_TYPE 1

SIM_GPS_DISABLE 0
AHRS_EKF_TYPE 2
INS_ACCOFFS_X 0.001
INS_ACCOFFS_Y 0.001
INS_ACCOFFS_Z 0.001
INS_ACCSCAL_X 1.001
INS_ACCSCAL_Y 1.001
INS_ACCSCAL_Z 1.001
INS_ACC2OFFS_X 0.001
INS_ACC2OFFS_Y 0.001
INS_ACC2OFFS_Z 0.001
INS_ACC2SCAL_X 1.001
INS_ACC2SCAL_Y 1.001
INS_ACC2SCAL_Z 1.001
INS_GYR_CAL 0

RNGFND1_TYPE 100        # 100 = simulated
RNGFND1_ORIENT 25     # 25 = Downward (typical for landing)
RNGFND1_MIN_CM 20     # 20 cm minimum range
RNGFND1_MAX_CM 400    # 400 cm max range
SIM_SONAR_SCALE 100   # Scaling for simulated range data
RNGFND1_SCALING 1     # Optional: default scaling

INS_XXX

Set INS_XXX for skip the accelerometer calibration

Mavros

mavros docker snippet
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# region install mavros
RUN apt-get update \
&& apt-get -y install --no-install-recommends \
    ros-jazzy-mavros \
    ros-jazzy-mavros-extras \
&& apt-get clean -y \
&& rm -rf /var/lib/apt/lists/*

RUN ros2 run mavros install_geographiclib_datasets.sh

# endregion install mavros

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ros2 launch mavros apm.launch fcu_url:=tcp://:5760@

# forward
ros2 launch mavros apm.launch \
fcu_url:=tcp://localhost:5760 \
gcs_url:=udp://@localhost:14550

Gazebo (harmonic)

Clone ardupilot_gazebo into workspace, - install dependencies - build with colcon - source - and run

dependencies
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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

alt text

simulation RTF

The simulation real time factor Usually fix after connect with mavros or other GCS to sitl

Usage

copter-gz.param
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FRAME_CLASS 1
FRAME_TYPE 1
terminal 1
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./arducopter --model JSON  --defaults copter-gz.param -I0
terminal 2
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gz sim -v4 -r iris_runway.sdf
terminal 3
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ros2 launch mavros apm.launch fcu_url:=tcp://localhost:5760 gcs_url:=udp://@localhost:14550

Guide ARM and takeoff

set mode
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ros2 service call /mavros/set_mode mavros_msgs/srv/SetMode "{base_mode: 0, custom_mode: 'GUIDED'}"
arm
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ros2 service call /mavros/cmd/arming mavros_msgs/srv/CommandBool "{value: True}"
take off
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 ros2 service call /mavros/cmd/takeoff mavros_msgs/srv/CommandTOL "{
  min_pitch: 0.0,
  yaw: 0.0,
  latitude: 0.0,
  longitude: 0.0,
  altitude: 5.0
}"

Reference