Vagrant上运行SITL

打算给Tower加个手机遥控的功能，用运行于vagrant sitl来联合调试，在公司的网络条件很好的情况下没出任何错，都是根据http://ardupilot.org/dev/docs/setting-up-sitl-using-vagrant.html运行，但家里就不行，先是vagrant的box下载不下来，然后是ubuntu的apt源还是官方的，太慢，接着就是pip2也不行，在此把解决的方案记录下来，方便大家避开这些坑。

1.ardupilot只clone 最后一次commit

git clone --depth=1 https://github.com/ArduPilot/ardupilot.git

2.vagrant box 改为本地

box先用迅雷下载，地址在第一次执行vagrant up的时候有显示

ardupilot目录下Vagrantfile中找到 config.vm.box行下面加入 config.vm.box_url = "../../../../Downloads/artful-server-cloudimg-i386-vagrant.box"

3.apt源改为国内镜像

执行vagrant up --no-provision 不执行provison中配置的脚本

启动后vagrant ssh进入虚拟机

备份原来的源  sudo mv /etc/apt/sources.list /etc/apt/souces.list.bak

新建源 sudo vi /etc/apt/sources.list

拷入

deb http://mirrors.ustc.edu.cn/ubuntu/ artful main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ artful-security main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ artful-updates main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ artful-proposed main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ artful-backports main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ artful main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ artful-security main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ artful-updates main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ artful-proposed main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ artful-backports main restricted universe multiverse

4.改pip源

打开/ardupilot/Tools/scripts/install-prereqs-ubuntu.sh

找到sudo pip2那一行 改为

sudo pip2 -q install -U -i https://pypi.tuna.tsinghua.edu.cn/simple $PYTHON_PKGS

5.jsbsim 只clone最后一次commit

打开/ardupilot/Tools/scripts/build-jsbsim.sh

找到git clone 改为 git clone --depth=1 https://github.com/tridge/jsbsim.git

6./usr/bin/env: ‘python\r’: No such file or directory

git clone前执行 git config --global core.autocrlf false