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@varun-sappa
varun-sappa authored Jun 5, 2023
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# Ardupilot Setup

# SITL + Ardupilot + Gazebo + ROS Camera plugin Tutorial
SITL + ArduPilot + Gazebo + ROS Camera Plugin (Software In Loop Simulation Interfaces, Models)

## Requirements :

## Requirements :
* Ubuntu (20.04 LTS) Full 3D graphics hight recommended.
* Gazebo version 11
* ROS Noetic (Required to work with Gazebo)
* MAVROS

### Dependencies for building packages

```
### Dependencies for building packages
````
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
```
````

## MAVROS installation :

MAVLink extendable communication node for ROS with proxy for Ground Control Station (See original instructions here http://ardupilot.org/dev/docs/ros-install.html#installing-mavros).
MAVLink extendable communication node for ROS with proxy for Ground Control Station (See original instructions <a href="http://ardupilot.org/dev/docs/ros-install.html#installing-mavros">here</a>).

### Configure your Ubuntu repositories

```
````
sudo apt-get install ros-noetic-mavros ros-noetic-mavros-extras
cd ~/
Expand All @@ -31,87 +29,86 @@ wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/inst
chmod a+x install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh
```
````

### For ease of use on a desktop computer, please also install RQT

```
````
sudo apt-get install ros-noetic-rqt ros-noetic-rqt-common-plugins ros-noetic-rqt-robot-plugins
```
````

### Install catkin tools

```
````
sudo apt-get install python-catkin-tools
```
````

Now that we have everything correctly installed we can begin our system configuration

## Environment setup and configuration :

* STEP 1 - SITL Ardupilot
* STEP 2 - Ardupilot gazebo plugin (Original khancyr version)
* STEP 3 - Gazebo ROS plugin (roscam)
* STEP 4 - Connect ArduPilot to ROS


## SETP 1 - SITL Ardupilot installation :

Instructions taken from ardupilot.org (See original instructions here http://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html).
Instructions taken from ardupilot.org (See original instructions <a href="http://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html">here</a>).

### Clone ArduPilot repository

```
````
cd ~/
git clone https://github.com/r0ch1n/ardupilot
cd ardupilot
git submodule update --init --recursive
```
git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git
````

### Install some required packages

If you are on a debian based system (such as Ubuntu or Mint), we provide a script that will do it for you. From ardupilot directory :

```
Tools/scripts/install-prereqs-ubuntu.sh -y
```
````
Tools/environment_install/install-prereqs-ubuntu.sh -y
````

Reload the path (log-out and log-in to make permanent):

```
````
. ~/.profile
```
````


### Finalize and test the installation

To start the simulator first change directory to the vehicle directory. For example, for the multicopter code change to ardupilot/ArduCopter:

```

````
cd ~/ardupilot/ArduCopter
```
````

Then start the simulator using sim\_vehicle.py. The first time you run it you should use the -w option to wipe the virtual EEPROM and load the right default parameters for your vehicle.
Then start the simulator using sim_vehicle.py. The first time you run it you should use the -w option to wipe the virtual EEPROM and load the right default parameters for your vehicle.

```
````
sim_vehicle.py --console --map
```
````

### Updating MAVProxy and pymavlink

New versions of MAVProxy and pymavlink are released quite regularly. If you are a regular SITL user you should update every now and again using this command

```
````
sudo pip install --upgrade pymavlink MAVProxy
```
````

This concludes the first step SITL Ardupilot installation.

This concludes the first step SITL Ardupilot installation.

## SETP 2 - Ardupilot gazebo plugin installation :

(See original instructions here https://github.com/khancyr/ardupilot\_gazebo).
(See original instructions <a href="https://github.com/khancyr/ardupilot_gazebo">here</a>).

### Clone ArduPilot repository

```
````
cd ~/
git clone https://github.com/r0ch1n/ardupilot_gazebo
Expand All @@ -128,56 +125,53 @@ cmake ..
make -j4
sudo make install
```
````

### Set environment variables

```
````
echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc
```
````

Set Path of Gazebo Models (Adapt the path to where to clone the repo)

```
````
echo 'export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models' >> ~/.bashrc
```
````

Set Path of Gazebo Worlds (Adapt the path to where to clone the repo)

```
````
echo 'export GAZEBO_RESOURCE_PATH=~/ardupilot_gazebo/worlds:${GAZEBO_RESOURCE_PATH}' >> ~/.bashrc
```
````

Reload the path (log-out and log-in to make permanent):

```
````
source ~/.bashrc
```
````

### Test installation

Open one Terminal and launch SITL Ardupilot

```
````
sim_vehicle.py -v ArduCopter -f gazebo-iris --map --console
```

Open a second Terminal and launch Gazebo running ardupilot\_gazebo plugin
````

```
Open a second Terminal and launch Gazebo running ardupilot_gazebo plugin
````
gazebo --verbose worlds/iris_arducopter_runway.world
```
````

You should see a gazebo world with a small quadcopter right at the center


## SETP 3 - Gazebo ROS plugin (roscam) :

This contains the ROS integrated custom models and .world files for Gazebo

### Clone Gazebo roscam integrated mdodel repository

```
````
# Source ROS
source /opt/ros/noetic/setup.bash
Expand Down Expand Up @@ -212,17 +206,18 @@ source ~/ardupilot_gazebo_roscam/devel/setup.bash
roslaunch ardupilot_gazebo iris_with_roscam.launch
```
````

## SETP 4 - Connect ArduPilot to ROS using MAVROS :

Connect to Ardupilot from ROS (Ardupilot <–> MAVLink <–> ROS ) Original information taken from here http://ardupilot.org/dev/docs/ros-sitl.html Note - Gazebo is not included in MAVROS so you cannot connect or access any of the Gazebo's Environments.
Connect to Ardupilot from ROS (Ardupilot <–> MAVLink <–> ROS ) Original information taken from <a href="http://ardupilot.org/dev/docs/ros-sitl.html">here</a>
Note - Gazebo is not included in MAVROS so you cannot connect or access any of the Gazebo's Environments.

### Setup MAVROS

New versions of MAVProxy and pymavlink are released quite regularly. If you are a regular SITL user you should update every now and again using this command

```
````
cd ~/
mkdir -p ardupilot_ws/src
Expand All @@ -242,23 +237,24 @@ roscp mavros apm.launch apm.launch
sudo gedit apm.launch
To connect to SITL we just need to modify the first line to <arg name="fcu_url" default="udp://127.0.0.1:14551@" />. save you file and launch it with
```
````

### Test

```
````
cd ~/ardupilot_ws/src/launch
roslaunch apm.launch
```
````

## Run it all


### Launch Gazebo

Open one Terminal and launch ROS integrated Gazebo

```
````
#Make sure you have all the right environment, if you are not sure run the following first
source /opt/ros/noetic/setup.bash
Expand All @@ -273,32 +269,43 @@ export GAZEBO_PLUGIN_PATH=/opt/ros/noetic/lib:$GAZEBO_PLUGIN_PATH
source ~/ardupilot_gazebo_roscam/devel/setup.bash
roslaunch ardupilot_gazebo iris_with_roscam.launch
```
````

### Launch SITL Ardupilot

Open a second Terminal and launch SITL Ardupilot

```
````
cd ~/ardupilot/ArduCopter
sim_vehicle.py -f gazebo-iris --console --map
```
````

### Subscribe to the virtual roscam feed

Open a third Terminal and RTL

```
````
rqt
```
````

Select Plugins -> Visualization -> Image View

Then choose /roscam/cam/image\_raw
Then choose /roscam/cam/image_raw

You should see the live feed from inside gazebo


## Final notes and comments

You can use any GCS Adrupilot software to control the UAV.

## Troubleshooting
### 1. udp0: sendto: Invalid argument mavros
Please check this <a href="https://discuss.ardupilot.org/t/problem-calling-ros-service-for-arducopter-ros-sitl-tutorial/18992">blog</a>

### 2. link 1 down, even after launching ardupilot_gazebo
Check X-Terminal's Output (if two X-Terminals open). The only remedy I could find was to reinstall ardupilot SITL and ardupilot_gazebo

### 3. Could not find a package configuration file provided by "mavros" with any of the following names: mavrosConfig.cmake mavros-config.cmake
Follow the installation mentioned in this <a href="https://github.com/mavlink/mavros/blob/master/mavros/README.md#installation">link</a>

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