# Ardupilot Setup

SITL + ArduPilot + Gazebo + ROS Camera Plugin (Software In Loop Simulation Interfaces, Models)

## Requirements :

* Ubuntu (20.04 LTS) Full 3D graphics hight recommended.
* Gazebo version 11
* ROS Noetic (Required to work with Gazebo)
* MAVROS

### Dependencies for building packages

```
sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
```

## MAVROS installation :

MAVLink extendable communication node for ROS with proxy for Ground Control Station (See original instructions [here](http://ardupilot.org/dev/docs/ros-install.html#installing-mavros)).

### Configure your Ubuntu repositories

```
sudo apt-get install ros-noetic-mavros ros-noetic-mavros-extras

cd ~/

wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh

sudo chmod a+x install_geographiclib_datasets.sh

sudo ./install_geographiclib_datasets.sh
```

### For ease of use on a desktop computer, please also install RQT

```
sudo apt-get install ros-noetic-rqt ros-noetic-rqt-common-plugins ros-noetic-rqt-robot-plugins
```

### Install catkin tools

```
sudo apt-get install python3-catkin-tools
```

Now that we have everything correctly installed we can begin our system configuration

## Environment setup and configuration :

* STEP 1 - SITL Ardupilot
* STEP 2 - Ardupilot gazebo plugin (Original khancyr version)
* STEP 3 - Gazebo ROS plugin (roscam)
* STEP 4 - Connect ArduPilot to ROS

## SETP 1 - SITL Ardupilot installation :

Instructions taken from ardupilot.org (See original instructions [here](http://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html)).

### Clone ArduPilot repository

```
cd ~/
git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git
```

### Install some required packages

If you are on a debian based system (such as Ubuntu or Mint), we provide a script that will do it for you. From ardupilot directory :

```
Tools/environment_install/install-prereqs-ubuntu.sh -y
```

Reload the path (log-out and log-in to make permanent):

```
. ~/.profile
```

### Finalize and test the installation

To start the simulator first change directory to the vehicle directory. For example, for the multicopter code change to ardupilot/ArduCopter:

```
cd ~/ardupilot/ArduCopter
```

Then start the simulator using sim\_vehicle.py. The first time you run it you should use the -w option to wipe the virtual EEPROM and load the right default parameters for your vehicle.

```
sim_vehicle.py --console --map
```

### Updating MAVProxy and pymavlink

New versions of MAVProxy and pymavlink are released quite regularly. If you are a regular SITL user you should update every now and again using this command

```
sudo pip install --upgrade pymavlink MAVProxy
```

This concludes the first step SITL Ardupilot installation.

## SETP 2 - Ardupilot gazebo plugin installation :

(See original instructions [here](https://github.com/khancyr/ardupilot_gazebo)).

### Clone ArduPilot repository

```
cd ~/

git clone https://github.com/AerialRobotics-IITK/ardupilot_gazebo

cd ardupilot_gazebo

mkdir build

cd build

cmake ..

# use make without any parameter if running in a VM
make -j4

sudo make install
```

### Set environment variables

```
echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc

```

Set Path of Gazebo Models (Adapt the path to where to clone the repo)

```
echo 'export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models' >> ~/.bashrc
```

Set Path of Gazebo Worlds (Adapt the path to where to clone the repo)

```
echo 'export GAZEBO_RESOURCE_PATH=~/ardupilot_gazebo/worlds:${GAZEBO_RESOURCE_PATH}' >> ~/.bashrc
```

Set Path of Ardupilot

```
export PATH=$PATH:$HOME/ardupilot/Tools/autotest
export PATH=/usr/lib/ccache:$PATH
```

Reload the path (log-out and log-in to make permanent):

```
source ~/.bashrc
```

### Test installation

Open one Terminal and launch SITL Ardupilot

```
sim_vehicle.py -v ArduCopter -f gazebo-iris --map --console
```

Open a second Terminal and launch Gazebo running ardupilot\_gazebo plugin

```
gazebo --verbose worlds/iris_arducopter_runway.world
```

You should see a gazebo world with a small quadcopter right at the center

## SETP 3 - Gazebo ROS plugin (roscam) :

This contains the ROS integrated custom models and .world files for Gazebo

### Clone Gazebo roscam integrated mdodel repository

```
# Source ROS

source /opt/ros/noetic/setup.bash

# Clone custom Gazebo ROS package

cd ~/

git clone https://github.com/r0ch1n/ardupilot_gazebo_roscam

cd ardupilot_gazebo_roscam

catkin init

cd src

catkin_create_pkg ardupilot_gazebo

cd ..

catkin build

# Add Custom models and plugin to Gazebo
export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models:$GAZEBO_MODEL_PATH
export GAZEBO_MODEL_PATH=~/ardupilot_gazebo_roscam/src/ardupilot_gazebo/models:$GAZEBO_MODEL_PATH
export GAZEBO_PLUGIN_PATH=/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:$GAZEBO_PLUGIN_PATH 
export GAZEBO_PLUGIN_PATH=/opt/ros/noetic/lib:$GAZEBO_PLUGIN_PATH

# Test installation

source ~/ardupilot_gazebo_roscam/devel/setup.bash

roslaunch ardupilot_gazebo iris_with_roscam.launch

```

## SETP 4 - Connect ArduPilot to ROS using MAVROS :

Connect to Ardupilot from ROS (Ardupilot <–> MAVLink <–> ROS ) Original information taken from [here](http://ardupilot.org/dev/docs/ros-sitl.html) Note - Gazebo is not included in MAVROS so you cannot connect or access any of the Gazebo's Environments.

### Setup MAVROS

New versions of MAVProxy and pymavlink are released quite regularly. If you are a regular SITL user you should update every now and again using this command

```
cd ~/

mkdir -p ardupilot_ws/src

cd ardupilot_ws

catkin init

cd src

mkdir launch

cd launch

roscp mavros apm.launch apm.launch

sudo gedit apm.launch

To connect to SITL we just need to modify the first line to <arg name="fcu_url" default="udp://127.0.0.1:14551@" />. save you file and launch it with
```

### Test

```
cd ~/ardupilot_ws/src/launch

roslaunch apm.launch
```

## Run it all

### Launch Gazebo

Open one Terminal and launch ROS integrated Gazebo

```
#Make sure you have all the right environment, if you are not sure run the following first

source /opt/ros/noetic/setup.bash

export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models:$GAZEBO_MODEL_PATH
export GAZEBO_MODEL_PATH=~/ardupilot_gazebo_roscam/src/ardupilot_gazebo/models:$GAZEBO_MODEL_PATH
export GAZEBO_PLUGIN_PATH=/usr/lib/x86_64-linux-gnu/gazebo-9/plugins:$GAZEBO_PLUGIN_PATH 
export GAZEBO_PLUGIN_PATH=/opt/ros/noetic/lib:$GAZEBO_PLUGIN_PATH

#Launch ROS integrated Gazebo

source ~/ardupilot_gazebo_roscam/devel/setup.bash

roslaunch ardupilot_gazebo iris_with_roscam.launch
```

### Launch SITL Ardupilot

Open a second Terminal and launch SITL Ardupilot

```
cd ~/ardupilot/ArduCopter

sim_vehicle.py -f gazebo-iris --console --map
```

### Subscribe to the virtual roscam feed

Open a third Terminal and RTL

```
rqt
```

Select Plugins -> Visualization -> Image View

Then choose /roscam/cam/image\_raw

You should see the live feed from inside gazebo

## Final notes and comments

You can use any GCS Adrupilot software to control the UAV.

## Troubleshooting

### 1. udp0: sendto: Invalid argument mavros

Please check this [blog](https://discuss.ardupilot.org/t/problem-calling-ros-service-for-arducopter-ros-sitl-tutorial/18992)

### 2. link 1 down, even after launching ardupilot\_gazebo

Check X-Terminal's Output (if two X-Terminals open). The only remedy I could find was to reinstall ardupilot SITL and ardupilot\_gazebo

### 3. Could not find a package configuration file provided by "mavros" with any of the following names: mavrosConfig.cmake mavros-config.cmake

Follow the installation mentioned in this [link](https://github.com/mavlink/mavros/blob/master/mavros/README.md#installation)


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