PIXHAWK SIMULATION

<mavros install>
sudo apt-get install ros-melodic-mavros ros-melodic-mavros-extras

wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh

sudo chmod +x install_geographiclib_dataset.sh

sudo ./install_geographiclib_dataset.sh

<px4 install>
wget https://raw.githubusercontest.com/PX4/Devguide/master/build_scripts/ubuntu_sim_common_deps.sh

sudo chmod +x ubuntu_sim_common_deps.sh

sudo ./ubuntu_sim_common_deps.sh

<install PX4 Firmware>
mkdir src

cd src

git clone --branch v1.10.0 https://github.com/PX4/Firmware.git

cd Firmware

git submodule update --init --recursive

mavros 설치 하기 (1.10.0으로 다운로드 하기)

https://dev.px4.io/v1.9.0/en/ros/mavros_installation.html

MAVROS (MAVLink on ROS) · PX4 v1.9.0 Developer Guide

Firmware 설치 하기

github.com/PX4/Firmware.git

PX4/Firmware

git clone github.com/PX4/Firmware.git --branch v1.10.0         (1.10.0 version 다운로드)

 

QgroundControl 다운로드

http://qgroundcontrol.com/

QGC - QGroundControl - Drone Control

 

build error

 

~/Firmware/Tools/sitl_gazebo/include/gazebo_opticalflow_plugin.h

 

#define HAS_GYRO TRUE => true

 

 

https://gstreamer.freedesktop.org/documentation/installing/on-linux.html?gi-language=c

 

 

필요한거 다운받는 코드

우분투 바탕회면에 <아무이름>.sh 으로 저장

sudo chmod +x <아무이름>.sh 으로 권한 부여

./<아무이름>.sh 으로 실행

#!/bin/bash

 

## Bash script for setting up ROS Melodic (with Gazebo 9) development environment for PX4 on Ubuntu LTS (18.04). 

## It installs the common dependencies for all targets (including Qt Creator)

##

## Installs:

## - Common dependencies libraries and tools as defined in `ubuntu_sim_common_deps.sh`

## - ROS Melodic (including Gazebo9)

## - MAVROS

 

if [[ $(lsb_release -sc) == *"xenial"* ]]; then

  echo "OS version detected as $(lsb_release -sc) (16.04)."

  echo "ROS Melodic requires at least Ubuntu 18.04."

  echo "Exiting ...."

  return 1;

fi

 

echo "Downloading dependent script 'ubuntu_sim_common_deps.sh'"

# Source the ubuntu_sim_common_deps.sh script directly from github

common_deps=$(wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_common_deps.sh -O -)

wget_return_code=$?

# If there was an error downloading the dependent script, we must warn the user and exit at this point.

if [[ $wget_return_code -ne 0 ]]; then echo "Error downloading 'ubuntu_sim_common_deps.sh'. Sorry but I cannot proceed further :("; exit 1; fi

# Otherwise source the downloaded script.

. <(echo "${common_deps}")

 

# ROS Melodic

## Gazebo simulator dependencies

sudo apt-get install protobuf-compiler libeigen3-dev libopencv-dev -y

 

## ROS Gazebo: http://wiki.ros.org/melodic/Installation/Ubuntu

## Setup keys

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

## For keyserver connection problems substitute hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 above.

sudo apt-get update

## Get ROS/Gazebo

sudo apt install ros-melodic-desktop-full -y

## Initialize rosdep

sudo rosdep init

rosdep update

## Setup environment variables

rossource="source /opt/ros/melodic/setup.bash"

if grep -Fxq "$rossource" ~/.bashrc; then echo ROS setup.bash already in .bashrc;

else echo "$rossource" >> ~/.bashrc; fi

eval $rossource

 

## Install rosinstall and other dependencies

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential -y

 

 

 

# MAVROS: https://dev.px4.io/en/ros/mavros_installation.html

## Install dependencies

sudo apt-get install python-catkin-tools python-rosinstall-generator -y

 

## Create catkin workspace

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws

catkin init

wstool init src

 

 

## Install MAVLink

###we use the Kinetic reference for all ROS distros as it's not distro-specific and up to date

rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall

 

## Build MAVROS

### Get source (upstream - released)

rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall

 

### Setup workspace & install deps

wstool merge -t src /tmp/mavros.rosinstall

wstool update -t src

if ! rosdep install --from-paths src --ignore-src -y; then

    # (Use echo to trim leading/trailing whitespaces from the unsupported OS name

    unsupported_os=$(echo $(rosdep db 2>&1| grep Unsupported | awk -F: '{print $2}'))

    rosdep install --from-paths src --ignore-src --rosdistro melodic -y --os ubuntu:bionic

fi

 

if [[ ! -z $unsupported_os ]]; then

    >&2 echo -e "\033[31mYour OS ($unsupported_os) is unsupported. Assumed an Ubuntu 18.04 installation,"

    >&2 echo -e "and continued with the installation, but if things are not working as"

    >&2 echo -e "expected you have been warned."

fi

 

#Install geographiclib

sudo apt install geographiclib -y

echo "Downloading dependent script 'install_geographiclib_datasets.sh'"

# Source the install_geographiclib_datasets.sh script directly from github

install_geo=$(wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh -O -)

wget_return_code=$?

# If there was an error downloading the dependent script, we must warn the user and exit at this point.

if [[ $wget_return_code -ne 0 ]]; then echo "Error downloading 'install_geographiclib_datasets.sh'. Sorry but I cannot proceed further :("; exit 1; fi

# Otherwise source the downloaded script.

sudo bash -c "$install_geo"

 

## Build!

catkin build

## Re-source environment to reflect new packages/build environment

catkin_ws_source="source ~/catkin_ws/devel/setup.bash"

if grep -Fxq "$catkin_ws_source" ~/.bashrc; then echo ROS catkin_ws setup.bash already in .bashrc; 

else echo "$catkin_ws_source" >> ~/.bashrc; fi

eval $catkin_ws_source

 

 

# Go to the firmware directory

clone_dir=~/src

cd $clone_dir/Firmware

 

 

 

simulation 실행 code

Mavros 실행 (1 terminal)

roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"

 

with Gazebo 실행 (2 terminal)

cd src/Firmware DONT_RUN=1 make px4_sitl_default gazebo           //First time

source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default

gazebo Tools/sitl_gazebo/worlds/iris.world

without Gazebo 실행(2 terminal)

cd src/Firmware
HEADLESS=1 make px4_sitl_default gazebo

px4.launch

export PX4_HOME_LAT=37.2943
export PX4_HOME_LON=126.9709
export PX4_HOME_ALT=5.0

PIXHAWK 직접 연결하여 Simulation 하기 (HITL) 변경사항 참고!!

https://dev.px4.io/v1.9.0/en/simulation/hitl.html

HITL Simulation · PX4 v1.9.0 Developer Guide