> For the complete documentation index, see [llms.txt](https://davids-tutorials.gitbook.io/robotics/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://davids-tutorials.gitbook.io/robotics/running-gazebo-with-ardupilot-sitl-and-dronekit.md).

# Running Gazebo with ArduPilot SITL & DroneKit

Pre-req: [Virtual Machine](/robotics/virtual-machines-virtual-box.md), [Gazebo Garden](/robotics/gazebo-garden.md), [ArduPilot](/robotics/ardupilot-and-sitl.md)

### Open first terminal (Ctrl + Alt + T) for Gazebo

```
export GZ_SIM_RESOURCE_PATH=$HOME/gz_ws/src/ardupilot_gazebo/models:$HOME/gz_ws/src/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH
```

```
export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/gz_ws/src/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH
```

```
gz sim -r iris_runway.sdf
```

> Note: this takes up alot of RAM and slows my computer

### Open second terminal (Ctrl + Alt + T) for ArduPilot

```
sim_vehicle.py -v ArduCopter -L Mojave -f gazebo-iris --model JSON --map --console
```

> wait for pop ups to show and for command line to say one of the following:<br>
>
> MAV>
>
> STABLIZE>

### Open third terminal (Ctrl + Alt + T) for Python Script using DroneKit

> wait for connections to establish

There are two optional scripts (aruco Script or the built in example)

### Built in example

```
cd examples/simple_goto
```

```
*edit the python file*

# comment out .argparse lines
# add the following lines:

print('Connecting to vehicle on 127.0.0.1:14450')
vehicle = connnect("127.0.0.1:14550", wait_ready=False)
print('connected')
```

```
python simple_goto.py
```

[Example Python Script](https://github.com/punkypankaj/Aruco-marker-detection-to-land-a-drone-python-script)

```
*edit the python file*

# comment out .argparse lines
# add the following lines:

print('Connecting to vehicle on 127.0.0.1:14450')
vehicle = connnect("127.0.0.1:14550", wait_ready=False)
print('connected')
```

```
cd Downloads/
python aruco_land.py
```