Running Gazebo with ArduPilot SITL & DroneKit

Pre-req: Virtual Machine, Gazebo Garden, ArduPilot

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:

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

*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