ardupilot_gazebo仿真

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Ardupilot Gazebo Plugin & Models

Requirements :

Native Ubuntu Xenial(16.04 LTS) able to run full 3D graphics.

Note : Virtual Machine such as VMWare Player does not support full 3D graphics.

but, possible solution is here

Type follow in the terminal,

echo "export SVGA_VGPU10=0" >> ~/.bashrc

source ~/.bashrc

solution retreived from here http://answers.gazebosim.org/question/13214/virtual-machine-not-launching-gazebo/

ArduPilot setup for SITL launch

Gazebo version 7.x or 8.x

The gazebo9 branch will works on gazebo >= 9.x

Disclamer :

This is a playground until I get some time to push the correct patch to gazebo master (I got hard time to work with mercurial..)!

So you can expect things to not be up-to-date.

This assume that your are using Ubuntu 16.04

Usage :

I assume you already have Gazebo 7+ installed with ROS (or without).

If you don't have it yet, install ROS with sudo apt install ros-kinetic-desktop-full

(follow instruction here http://wiki.ros.org/kinetic/Installation/Ubuntu).

Or install directly gazebo8 from http://gazebosim.org/tutorials?tut=install_ubuntu

libgazebo7-dev or libgazebo8-dev must be installed.

For Gazebo 7

sudo apt-get install libgazebo7-dev

OR

For Gazebo 8

sudo apt-get install libgazebo8-dev

git clone https://github.com/SwiftGust/ardupilot_gazebo

cd ardupilot_gazebo

mkdir build

cd build

cmake ..

make -j4

sudo make install

Set Path of Gazebo Models / Worlds...

Open up .bashrc

sudo gedit ~/.bashrc

Copy & Paste Followings at the end of .bashrc file

source /usr/share/gazebo/setup.sh

export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models:${GAZEBO_MODEL_PATH}

export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models_gazebo:${GAZEBO_MODEL_PATH}

export GAZEBO_RESOURCE_PATH=~/ardupilot_gazebo/worlds:${GAZEBO_RESOURCE_PATH}

Install is done !!

Now launch a world file with a copter/rover/plane and ardupilot plugin, and it should work!

(I will try to add some world file and model later)

HELP

How to Launch :

Launch Ardupilot Software In the Loop Simulation for each vehicle.

On new terminal, Launch Gazebo with basic demo world.

在执行2nd之前需要在终端中source

source /usr/share/gazebo/setup.sh

ROVER

On 1st Terminal(Launch Ardupilot SITL)

sim_vehicle.py -v APMrover2 -f gazebo-rover  -m --mav10 --map --console -I1

On 2nd Termianal(Launch Gazebo with Rover, Retrieved from Husky Model)

gazebo --verbose rover_ardupilot.world

COPTER (3DR IRIS)

On 1st Terminal(Launch Ardupilot SITL)

sim_vehicle.py -v ArduCopter -f gazebo-iris  -m --mav10 --map --console -I0

On 2nd Terminal(Launch Gazebo with demo 3DR Iris model)

gazebo --verbose iris_ardupilot.world

PLANE

On 1st Terminal(Launch Ardupilot SITL)

sim_vehicle.py -v ArduPlane -f gazebo-zephyr  -m --mav10 --map --console -I0

On 2nd Terminal(Launch Gazebo with demo Zephyr flying wing model)

gazebo --verbose zephyr_ardupilot_demo.world

In addition, you can use any GCS that can connect to the Ardupilot locally or remotely(will require connection setup).

If MAVProxy Developer GCS is uncomfortable. Omit --map --console arguments out of SITL launch.

And use APMPlanner2 or QGroundControl instead.

(Possibly MissionPlanner but require Windows PC)

Local connection with APMPlanner2/QGroundControl is automatic, and easier to use.

For APMPlanner2

Download it from here http://firmware.eu.ardupilot.org/Tools/APMPlanner/

and launch it in terminal or run executable

apmplanner2

For QGroundControl

Download it from here and follow the installation guide.

https://donlakeflyer.gitbooks.io/qgroundcontrol-user-guide/en/download_and_install.html

Multi-Vehicle simulation

This section explains how to connect any combination of multi-vehicles of ArduPilot

For the multi-vehicle connection, port number is increased by 10

In SITL launch argument (sim_vehicle.py)

-I 0 has FDM in/out ports of 9002/9003 / GCS connection UDP:14550

-I 1 has FDM in/out ports of 9012/9013 / GCS connection UDP:14560

-I 2 has FDM in/out ports of 9022/9023 / GCS connection UDP:14570

and so on...

You will need to edit your world for any combination of Rover, Plane, Copter, etc...

Additional Note for GCS Connection

You will also need to edit ArduPilot Parameter SYSID_THISMAV to be unique from one another for the GCS connection

Example

Look simulation of 3 IRIS quadcopter at once from Jonathan Lopes Florêncio

https://www.youtube.com/watch?v=3c7EhVMaqKY&feature=youtu.be

Troubleshooting

Missing libArduPilotPlugin.so... etc

In case you see this message when you launch gazebo with demo worlds, check you have no error after sudo make install.

If no error use "ls" on the install path given to see if the plugin is really here.

If this is correct, check with "cat /usr/share/gazebo/setup.sh" the variable GAZEBO_PLUGIN_PATH. It should be the same as the install path. If not use "cp" to copy the lib to right path.

For Example

sudo cp -a /usr/lib/x86_64-linux-gnu/gazebo-7.0/plugins/ /usr/lib/x86_64-linux-gnu/gazebo-7/

path mismatch is confirmed as ROS's glitch. It'll be fixed.

如果只用源码进行仿真，可能会出现旋翼飞行不稳定的情况。需要对参数进行调节，而这里貌似不能用AUTOTUNE自动调参的功能进行调整参数。用AUTOTUNE出现问题的原因可能是模型内部的限幅导致，飞机无法响应对应的PID参数，所以我们直接对飞行pid参数进行修改。

PSC_ Parameters

ATC_ Parameters

根据飞行状态对这两个参数修改

ATC_RAT_RLL_D 0.001000

ATC_RAT_RLL_P 0.155000

飞行稳定可以进行后续仿真。

参数设置和查询

param show ATC_*

param set ATC_RAT_RLL_P 0.155

ATC_ACCEL_R_MAX  110000.000000

ATC_ACCEL_Y_MAX  27000.000000

ATC_ANGLE_BOOST  1.000000

ATC_ANG_LIM_TC   1.000000

ATC_ANG_PIT_P    4.500000

ATC_ANG_RLL_P    4.500000

ATC_ANG_YAW_P    4.500000

ATC_INPUT_TC     0.150000

ATC_RATE_FF_ENAB 1.000000

ATC_RATE_P_MAX   0.000000

ATC_RATE_R_MAX   0.000000

ATC_RATE_Y_MAX   0.000000

ATC_RAT_PIT_D    0.003600

ATC_RAT_PIT_FF   0.000000

ATC_RAT_PIT_FILT 20.000000

ATC_RAT_PIT_I    0.090000

ATC_RAT_PIT_IMAX 0.500000

ATC_RAT_PIT_P    0.150000

ATC_RAT_RLL_D    0.001000

ATC_RAT_RLL_FF   0.000000

ATC_RAT_RLL_FILT 20.000000

ATC_RAT_RLL_I    0.090000

ATC_RAT_RLL_IMAX 0.500000

ATC_RAT_RLL_P    0.155000

ATC_RAT_YAW_D    0.000000

ATC_RAT_YAW_FF   0.000000

ATC_RAT_YAW_FILT 2.500000

ATC_RAT_YAW_I    0.018000

ATC_RAT_YAW_IMAX 0.500000

ATC_RAT_YAW_P    0.180000

ATC_SLEW_YAW     6000.000000

ATC_THR_MIX_MAN  0.500000

ATC_THR_MIX_MAX  0.500000

ATC_THR_MIX_MIN  0.100000