Test mission planning for Lake Launderers in simulation

[snwu1996]

Completion Criteria:

• Run a complete mission in simulation.
• Document process into a setup file.

[snwu1996]

A while back @sigi73 was able to get a simulator working running gazebo_sitl. @daweim0 and I are trying to replicate his results and tinker around with mission planning right now before we do actual WP mission in real life.

[snwu1996]

Was able build the simulator running

make px4_sitl gazebo_boat

by running their setup file under

bash Firmware/Tools/setup/ubuntu.sh

Ran into an issue of running out of memory trying to do linking but I was able to resolve that by increasing my swap memory from 256 mb to 4 gb.

[snwu1996]

Copied from my slack messages detailing what problems I ran into and how I resolved them.

Do I was able to increase my swap memory and build gazebo_boat. I was able to build but not run the simulator at first because it was missing rc.boat_default file from a certain directory. I found the file located in another directory and copied it over to the desired directory. I was then able to launch the sim but now I cant run wp missions because for some reason mavros cant detect CMD 172 or something which much be the command to tell it to run the wp mission

So I was able to get the simulator to work and do WP mission. I think before I was having some issues with either the simulator not liking takeoff waypoint (because it can't really take off) or the fact that I didn't set a flight speed for the mission start wp. As one can tell the boat seems to really want to stay on the line but always overshoots. I'm not sure what can we tune to get that to not happen as much. Also the boat doesn't seem to like the return to launch wp.

Okay so it turns out that not being able to return to home was an altitude issue. Because we are working in 2D you have to set everything in the controller to ignore altitude Definitely good to know for when we actually start testing mission planning