DISCONTINUATION OF PROJECT.
This project will no longer be maintained by Intel.
Intel has ceased development and contributions including, but not limited to, maintenance, bug fixes, new releases, or updates, to this project.
Intel no longer accepts patches to this project.
If you have an ongoing need to use this project, are interested in independently developing it, or would like to maintain patches for the open source software community, please create your own fork of this project.
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A ROS-independent Gazebo plugin for Ardupilot's SITL.
* Python 2.7+ (to generate mavlink headers)
* MavProxy (https://github.com/Dronecode/MAVProxy)
* Ardupilot (https://github.com/ArduPilot/ardupilot)
Make sure you have initialized and updated the Mavlink submodule at least once with:
git submodule update --init --recursive
Create a build folder, make and install using CMAKE as follows:
mkdir build
cd build
cmake ..
sudo make install
cd -
Download Gazebo models if necessary:
Gazebo automatically searches and downloads models referenced in the .world file that are not already present into GAZEBO_MODEL_PATH. However, in some cases the download might take a long time for no apparent reason. Download the Quadrotor model manually with:
curl http://models.gazebosim.org/quadrotor/model.tar.gz | tar xvz -C GAZEBO_MODEL_PATH
Open a second terminal and run Ardupilot:
${ARDUPILOTDIR}/build/sitl/bin/arducopter --model x --defaults ${ARDUPILOTDIR}/Tools/autotest/default_params/copter.parm
In a third terminal, run Mavproxy:
mavproxy.py --master tcp:127.0.0.1:5760 --out udp:127.0.0.1:15556
Open the Gazebo gzsitl_drone_target world file with the following command:
gazebo ./world/gzsitl_drone_target.world --verbose
The Plugin first detects if the vehicle being simulated on SITL is Landed or already Airborne.
When Airborne, the vehicle follows the transparent sphere (target).
Gazebo might fail to open if the needed models or plugins are not found. If that happens, make sure the needed plugins have been successfully built and installed into your shared libraries directory and that all the needed models are present into GAZEBO_MODEL_PATH. The Gazebo --verbose terminal output is useful for determining whether a plugin or a model has not not been found.