We are using ROS melodic + Gazebo 9. PX4 has this tutorial under the ROS/Gazebo section on how to install both of them. NOTE: It will create a workspace in the default ~/catkin_ws directory. You might be able to modify the script to install it in another directory.
Clone this repo into your catkin ws as src
cd <RoboMagellan-catkin_ws>
git clone [email protected]:Sea-Swindlers/robo_magellan_main.git src
cd src
git submodule init
git submodule update
cd scripts
source setup_paths.sh
To install other depandancies:
./install_robo_magellan_dep.sh
To build everything run:
cd <RoboMagellan-catkin_ws>
catkin_make_isolated
Work in progress
Clone the PX4
git clone [email protected]:PX4/PX4-Autopilot.git --recursive
To test the default px4_sitl rover simulation run:
cd <PX4-Autopilot_clone>
make px4_sitl gazebo_rover__baylands
This will validate whether or not you can build and run the base simulation. Our simulator setup will build on top of this.
To test if you can get our custom models to run:
in the first terminal run, start an empty sim:
cd <RoboMagellan-catkin_ws>
cd src/scripts
source setup_paths.sh
cd <PX4-Autopilot_clone>
export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:$(pwd)/Tools/sitl_gazebo/build
export GAZEBO_MODEL_DATABASE_URI=""
roslaunch gazebo_ros empty_world.launch
An empty Gazebo sim should pop up. Now go to the insert tab an insert the rm_rover model into the sim.
in the second terminal, validate that the topics are being published properly:
rostopic list
and make sure that data is being published to the following topics:
/bumper/raw
/laser/scan
/ultrasonic_sensor_1/reading
/ultrasonic_sensor_2/reading
/ultrasonic_sensor_3/reading
/zed/depth/image_raw
/cameras/webcam_front/image_raw
/cameras/webcam_right/image_raw
/cameras/webcam_left/image_raw
/cameras/webcam_rear/image_raw
To run our custom simulator with sensors, obstacles, and cones run:
cd <PX4-Autopilot_clone>
DONT_RUN=1 make px4_sitl_default gazebo
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:$(pwd)/Tools/sitl_gazebo/build
export GAZEBO_MODEL_DATABASE_URI=""
roslaunch px4 posix_sitl.launch world:="$RM_WORLDS_PATH/rm_baylands.world" vehicle:="rover" sdf:="$RM_MODELS_PATH/rm_rover/rm_rover.sdf"