px4_simulation_stack

Package for PX4 SITL Gazebo simulation.

Documentation is available on github pages.

Compatible version of PX4 Firmware

The master branch may not be compatible with the latest master or release of PX4 Firmware.
Please see releases page for compatible commit.

File List

You can see file list from https://uenota.github.io/px4_simulation_stack/files.html.

Docker

Build Image

cd ~/catkin_ws/src/px4_simulation_stack/docker
docker build -t uenota/px4sim:1.0 .

Run Container

See http://wiki.ros.org/docker/Tutorials/GUI.
It is neccessary to build PX4 files for the first time.

make posix_sitl_defalut gazebo

Without Docker

PX4 Installation

See https://dev.px4.io/en/setup/dev_env_linux_ubuntu.html.

Setting Up PX4 SITL

See https://dev.px4.io/en/simulation/ros_interface.html.

It is convenient to write settings in .bashrc and .profile.

In Firmware directory,

echo "source $(pwd)/Tools/setup_gazebo.bash $(pwd) $(pwd)/build/posix_sitl_default" >> ~/.bashrc
echo "export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:$(pwd)" >> ~/.bashrc
echo "export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo" >> ~/.bashrc
echo "export GAZEBO_PLUGIN_PATH=\$GAZEBO_PLUGIN_PATH:$(pwd)/build/posix_sitl_default/build_gazebo" >> ~/.bashrc

Exporting Gazebo Model Path

You need to set environment variable if you want to insert models in this pacakge from Gazebo GUI.

In px4_simulation_stack directory,

echo "export GAZEBO_MODEL_PATH=\$GAZEBO_MODEL_PATH:$(pwd)/Tools/sitl_gazebo/models" >> ~/.bashrc

If you write these settings in .bashrc and .profile,
do not forget to source them for the first time.

Run Gazebo Remotely

Export Environment Variables

In server machine, run

export ROS_MASTER_URI=http://server_ip:11311
export ROS_IP=host_ip_server

In client machine, run

export ROS_MASTER_URI=http://server_ip:11311
export ROS_IP=host_ip_client
export GAZEBO_MASTER_URI=http://server_ip:11345

You can check host_ip of each machine by running

hostname -I

Run Launch Files

Gazebo

If you want to run only Gazebo, run the following command in server machine.

roslaunch px4_simulation_stack gzserver.launch

In client machine, run

roslaunch px4_simulation_stack gzclient.launch

Gazebo and PX4 SITL

If you want to run Gazebo and PX4 SITL, run the following command in server machine.

roslaunch px4_simulation_stack posix_sitl_remote_server.launch

In client machine, run

roslaunch px4_simulation_stack gzclient.launch

Notes about Launch Files

hexa_j153.launch

In order to launch hexa_j153.launch, you need to put gazebo models of gazebo model database in your GAZEBO_MODEL_PATH. Gazebo models of gazebo model database can be downloaded from https://bitbucket.org/osrf/gazebo_models/overview.

This launch file needs Gazebo 7.4.0 or newer to launch because of this problem. Installation of Gazebo from OSRF repository is described here. Note that ROS Kinetic should be used with Gazebo 7.x series according to this page.