iceberg_sim

ROS2 Gazebo simulation package for use with ardupilot_gz and ardupilot_sitl_models packages. This package lets us extend models and worlds in the ardupilot packages for our own purposes.

Dependancies

Using ros2 humble and Gazebo Garden.

Follow these instructions to setup the ardupilot gazebo simulation. You will install all dependancies by following these steps.

Install and Build

Navigate to your ros2 workspace src directory:

cd ros2_ws/src/

Clone the package:

git clone [email protected]:IcebergASV/iceberg_sim.git

Add the path to the GZ_SIM_RESOURCE_PATH in your bashrc. After setting up the ardupilot packages, your GZ_SIM_RESOURCE_PATH should look like this in your bashrc:

export GZ_SIM_RESOURCE_PATH=$HOME/ros2_ws/src/ardupilot_gazebo/models:$HOME/ros2_ws/src/ardupilot_gazebo/worlds:$HOME/ros2_ws/src/iceberg_sim/models:$GZ_SIM_RESOURCE_PATH

Don't forget to modify the path if your workspace is not in the home directory.

Build the workspace

cd ros2_ws/
colcon build --symlink-install

Source the workspace

source install/setup.bash

Usage

Launch gazebo:

ros2 launch iceberg_sim wildthumper_empty_world.launch.py 

Launch mavros:

ros2 launch mavros apm.launch

Launch MAVProxy:

mavproxy.py --console --aircraft test --master=:14550

You can now use MAVProxy to control the robot.