Pre-requisite

• Ubuntu 16.04 LTS
• ROS Kinetic
• Assuming you use catkin build system
• Gazebo 7.14
  • OR You can use download and run this script here:
  1. Download and save it
  2. Go to the location that you saved it
  3. Run source ubuntu_sim_ros_gazebo.sh

OpenUAV

This simulation is based on OpenUAV project.

1. In your home directory create a src folder by typing mkdir src in your terminal
2. Go to the src folder cd src
3. Clone all git repositories in OpenUAV to this folder by git clone command
4. Go to the Firmware repository by typing cd Firmware
5. source setup-install.sh (press Return to continue when asked)
6. When it finishes, type make posix_sitl_default
7. Then run Gazebo by typing gazebo in your terminal
8. Connect the sitl_gazebo folder with your catkin_ws/src folder by typing sudo ln -s ~/sitl_gazebo ~/catkin_ws/src in your terminal
9. Connect the src/Firmware folder with your catkin_ws/src folder by typing sudo ln -s ~/src/Firmware ~/catkin_ws/src in your terminal
10. Go to your catkin_ws/src folder (cd ~/catkin_ws/src) and build it by typing catkin build in the terminal.
11. Type source devel/setup.bash
12. Now do the following to configure your ROS environment:
    1. roscd
    2. cd ..
    3. cd src/Firmware
    4. make posix_sitl_default
    5. source ~/catkin_ws/devel/setup.bash
    6. source Tools/setup_gazebo.bash $(pwd) $(pwd)/build_posix_sitl_default
    7. export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
    8. export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
13. Open a terminal and type: roslaunch px4 posix_sitl.launch
14. Open a terminal and type: roslaunch mavros px4.launch fcu_url:="udp://:14550@127.0.0.1:14557" Make sure there is no error in this launch. You can then close terminate the terminals.

Gripper Setup

Clone the repository as to your home: git clone https://github.com/CPS2018/Simulation_F651.git

1. Open a terminal and type printenv | grep GAZEBO

2. Two or more paths should be displayed: GAZEBO_MODEL_PATH=:/home/user/src/Firmware/Tools/sitl_gazebo/models:/home/user/catkin_ws/src/simulation_control/src/models GAZEBO_PLUGIN_PATH=:/home/user/src/Firmware/Tools/sitl_gazebo/Build (Gazebo gets it's models in this case from two paths which are told apart by the : sign.)

3. Add the file gripper_plugin.cc in the folder one step up from your GAZEBO_PLUGIN_PATH. In this case, it would be /home/user/src/Firmware/Tools/sitl_gazebo/src

4. Add the following lines under plugins to the CMakeLists.txt file located at /home/user/src/Firmware/Tools/sitl_gazebo/src find_package(roscpp REQUIRED) find_package(std_msgs REQUIRED) include_directories(${roscpp_INCLUDE_DIRS}) include_directories(${std_msgs_INCLUDE_DIRS}) find_package(gazebo REQUIRED) include_directories(${GAZEBO_INCLUDE_DIRS}) link_directories(${GAZEBO_LIBRARY_DIRS}) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") add_library(gripper_plugin SHARED src/gripper_plugin.cc) target_link_libraries(gripper_plugin ${GAZEBO_libraries} ${roscpp_LIBRARIES})

5. Open a terminal and type the following:

   1. cd ~/home/user/src/Firmware/Tools/sitl_gazebo/Build (GAZEBO_PLUGIN_PATH)
   2. cmake ../
   3. make

6. Add the folder simulation_control to your catkin_ws/src folder.

7. Open a terminal and type the following to build the catkin workspace:

   1. cd ~/catkin_ws
   2. catkin build

8. Double check if you're missing any dependencies like pysci etc. and install them if not. Then build again.

9. Open a terminal and type: (adding gazebo model path to bashrc) sudo nano ~/.bashrc

10. In your bashrc, add the following line along with your GAZEBO_MODEL_PATH: :/home/user/catkin_ws/src/simulation_control/src/models For example if it looks like this: export GAZEBO_MODEL_PATH=:/home/user/src/Firmware/Tools/sitl_gazebo/models After editing it should look like this: export GAZEBO_MODEL_PATH=:/home/user/src/Firmware/Tools/sitl_gazebo/models:/home/user/catkin_ws/src/simulation_control/src/models

11. Add the file f550_amazing to /home/user/src/Firmware/posix-configs/SITL/init/lpe

Running the Simulation

Open three Terminals:

1. roslaunch simulation_control posix_sitl.launch
2. roslaunch simulation_control px4.launch fcu_url:="udp://:14550@127.0.0.1:14557"
3. roslaunch simulation_control simulation_control.launch

FAQ

If after making posix_sitl, Gazebo doesn’t launch and gives you a error message regarding geographiclib

Do the following:

• In your terminal type: sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras
• When that installation is ready type:
• wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
• ./install_geographiclib_datasets.sh (you might have to make the install_geographiclib_datasets.sh executable.)

If roslaunch cannot find the python node, then you need to change the permissions for all the python source code files using sudo chmod filename.py