This repo hosts gazebo worlds for various drone scenarios and various drone configurations. This Repo is specifically designed to work with the Ardupilot control system, and utilizes the ardupilot gazebo plugin to allow the ardupilot control software to interface and control the model drone in gazebo.
This Repo is part of the Intelligent Quads Software Development tutorial series. Please take a look at the following resources to learn more about how to use this repository.
Intelligent Quads Text Tutorials
Intelligent Quads Video Tutorials
take a look at these tutorials to setup ardupilot, gazebo and the ardupilot gazebo plugin
Installing Ardupilot and MAVProxy
Installing Gazebo and ArduPilot Plugin
Installing x-term is recommended as it allows the ardupilot sitl interface to run in a terminal that will cleanly close when closing you sitl instance
sudo apt install x-term
This repo contains a couple different gazebo worlds containing various ardupilot drone configurations. The worlds are listed below
droneOnly.world- simple gazebo world containing only a single dronerunway.world- simple gazebo world containing only a single drone on a runwaylidar.world- a simple gazebo world containing a single drone with a 2d lidar sensormulti_drone.world- a simple world containing 12 drones
Each world contains a corresponding launch file. For example to launch runway.world run
roslaunch iq_sim runway.launch
Launch the ardupilot instance by running
cd ~/ardupilot/ArduCopter/ && sim_vehicle.py -v ArduCopter -f gazebo-iris --console
For more information, take a look at the corresponding tutorials here
Recently I have been experimenting with Ardurover for controlling an autonomous boat. Bellow shows the steps for installing for boat simulation. If you have already installed for quadcopter simulation, then most of the boat installation should already be completed.
First terminal
roslaunch iq_sim boat.launch
second terminal
sim_vehicle.py -v APMrover2 -f gazebo-rover -m --mav10 --console -L Viridian