Video Tutorial at https://youtu.be/m7hPyJJmWmU
Robot simulation is an essential tool in every roboticist's toolbox. A well-designed simulator makes it possible to rapidly test algorithms, design robots, perform regression testing, and train AI system using realistic scenarios. Gazebo offers the ability to accurately and efficiently simulate populations of robots in complex indoor and outdoor environments. At your fingertips is a robust physics engine, high-quality graphics, and convenient programmatic and graphical interfaces. Best of all, Gazebo is free with a vibrant community.
for more infromation on gazebo checkout http://gazebosim.org/
Setup your computer to accept software from http://packages.osrfoundation.org:
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
Setup keys:
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
Reload software list:
sudo apt update
Install Gazebo:
sudo apt install gazebo9 libgazebo9-dev
sudo apt-get install gazebo11 libgazebo11-dev
for more detailed instructions for installing gazebo checkout http://gazebosim.org/tutorials?tut=install_ubuntu
cd ~
git clone https://github.com/khancyr/ardupilot_gazebo.git
cd ardupilot_gazebo
Ubuntu 18.04 only checkout dev
git checkout dev
build and install plugin
mkdir build
cd build
cmake ..
make -j4
sudo make install
echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc
Set paths for models:
echo 'export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models' >> ~/.bashrc
. ~/.bashrc
NOTE the iris_arducopter_runway is not currently working in gazebo11. The iq_sim worlds DO work
In one Terminal (Terminal 1), run Gazebo:
gazebo --verbose ~/ardupilot_gazebo/worlds/iris_arducopter_runway.world
In another Terminal (Terminal 2), run SITL:
cd ~/ardupilot/ArduCopter/
sim_vehicle.py -v ArduCopter -f gazebo-iris --console