Running Gazebo with ArduPilot SITL & qGroundControl

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 -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>

(Optional) in second terminal, type the following:

mode guided

arm throttle

takeoff 10

mode LAND

Open third terminal (Ctrl + Alt + T) for qGroundControl

wait for connections to establish

./QGroundControl.AppImage