Gazebo - Revision history

Openuas: /* Gazebo Installation= */

2021-12-03T15:59:32Z

Gazebo Installation=

← Older revision		Revision as of 09:59, 3 December 2021
Line 22:		Line 22:
	We assume you already have Paparazzi installed via the One liner. If Not install Paparazzi first please. If that all worked, come back to this page.		We assume you already have Paparazzi installed via the One liner. If Not install Paparazzi first please. If that all worked, come back to this page.

	==Gazebo Installation===		==Gazebo Installation==

	Steps to install Gazebo		Steps to install Gazebo

	1. Make sure Gazebo is installed, ~~for~~ version 9 ~~(compatible with~~ Ubuntu ~~16.04 or 17.10~~ and higher)		1. Make sure Gazebo is installed, version 9 if you are on Ubuntu 18 and higher

	$ sudo apt~~-get~~ install gazebo9 libgazebo9~~-dev~~		$ sudo apt install gazebo9 libgazebo9-dev

	~~for Ubuntu 16.04 or 16.10~~

	~~$ sudo apt-get install gazebo8 libgazebo8~~-dev

	If for some reason this doesn't work, you can find some additional instructions here: http://gazebosim.org/tutorials?cat=install&tut=install_ubuntu&ver=9.0		If for some reason this doesn't work, you can find some additional instructions here: http://gazebosim.org/tutorials?cat=install&tut=install_ubuntu&ver=9.0

Kirkscheper: Updated instructions to reflect current working gazebo version

2018-12-18T09:34:13Z

Updated instructions to reflect current working gazebo version

← Older revision		Revision as of 03:34, 18 December 2018
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	=Gazebo=		=Gazebo=

	The nice sim framework Gazebo from here http://gazebosim.org/ can now be use from ~~withing~~ Paparazzi. Are you doing work on UAS in combination with e.g. Vision based navigation check it out. I might make testing your new work so much simpler.		The nice sim framework Gazebo from here http://gazebosim.org/ can now be use from within Paparazzi. Are you doing work on UAS in combination with e.g. Vision based navigation check it out. I might make testing your new work so much simpler.

	Be warned, using it can be highly addictive, and might tempt ~~youinto~~ buying a new computer with high specifications. To be able to use Gazebo a very good Video card is needed, consider upgrading you hardware if everything runs slowly.		Be warned, using it can be highly addictive, and might tempt you into buying a new computer with high specifications. To be able to use Gazebo a very good Video card is needed, consider upgrading you hardware if everything runs slowly.

	Note that ~~at the moment it is tested with v8~~ and ~~the new v9 is not compatiple with trhe new API yet, but feel free to try, the fun~~ of ~~opensource is~~ in ~~to make it work with v9~~.		Note that from stable version 5.14 onwards, only version 8 and 9 of Gazebo work in Paparazzi on Ubuntu 16.04 or higher.
	~~If you have it working for v9, a pull request of changes needed warmly welcomed by the Paparazzi developers community~~.

	~~Make yourself immortal; Add Gazebo v9 support~~

	Gazebo back-end for NPS [[NPS]] simulator		Gazebo back-end for NPS [[NPS]] simulator
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	Steps to install Gazebo		Steps to install Gazebo

	1. Make sure Gazebo is installed ~~via~~		1. Make sure Gazebo is installed, for version 9 (compatible with Ubuntu 16.04 or 17.10 and higher)

			$ sudo apt-get install gazebo9 libgazebo9-dev

			for Ubuntu 16.04 or 16.10

	$ sudo apt-get install gazebo8 libgazebo8-dev		$ sudo apt-get install gazebo8 libgazebo8-dev

			If for some reason this doesn't work, you can find some additional instructions here: http://gazebosim.org/tutorials?cat=install&tut=install_ubuntu&ver=9.0

	===Model===		===Model===
Line 41:		Line 44:
	The model should include a link for each motor with the same names as those listed in NPS_ACTUATOR_NAMES (see below), e.g. 'nw_motor'. Camera links should have the name specified in .dev_name in the		The model should include a link for each motor with the same names as those listed in NPS_ACTUATOR_NAMES (see below), e.g. 'nw_motor'. Camera links should have the name specified in .dev_name in the
	corresponding video_config_t struct, see '''sw/airborne/boards/pc_sim.h''' and '''sw/airborne/modules/computer_vision/video_thread_nps.c'''		corresponding video_config_t struct, see '''sw/airborne/boards/pc_sim.h''' and '''sw/airborne/modules/computer_vision/video_thread_nps.c'''

			Additional models can be found in the sw/ext/tudelft_gazebo_models. You will have to run git submodule init, git submodule update to pull in the models.

	===World===		===World===
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	<heading_deg>180</heading_deg><!-- Temporary fix for issue https://bitbucket.org/osrf/gazebo/issues/2022/default-sphericalcoordinates-frame-should -->		<heading_deg>180</heading_deg><!-- Temporary fix for issue https://bitbucket.org/osrf/gazebo/issues/2022/default-sphericalcoordinates-frame-should -->
	</spherical_coordinates>		</spherical_coordinates>

			Additional world models can be found in the sw/ext/tudelft_gazebo_models. You will have to run git submodule init, git submodule update to pull in the models.

	===Airframe===		===Airframe===
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	<makefile target="ap"> ---> <makefile>		<makefile target="ap"> ---> <makefile>

	It would be great if as a user you would improve this and make a Pull request of your code ~~improvments~~ to the main Paparazzi codebase, TIA		It would be great if as a user you would improve this and make a Pull request of your code improvements to the main Paparazzi codebase, TIA

	=Reality=		=Reality=

	Never forget... A sim is not reality... validate via testflights in the real world after you think everything you created works perfectly.		Never forget... A sim is not reality... validate via testflights in the real world after you think everything you created works perfectly.

Openuas at 22:14, 21 February 2018

2018-02-21T22:14:14Z

← Older revision		Revision as of 16:14, 21 February 2018
Line 3:		Line 3:
	The nice sim framework Gazebo from here http://gazebosim.org/ can now be use from withing Paparazzi. Are you doing work on UAS in combination with e.g. Vision based navigation check it out. I might make testing your new work so much simpler.		The nice sim framework Gazebo from here http://gazebosim.org/ can now be use from withing Paparazzi. Are you doing work on UAS in combination with e.g. Vision based navigation check it out. I might make testing your new work so much simpler.

	Be warned, using it can be highly addictive, and might tempt youinto buying a new computer with ~~hight spacification~~. To be able to use ~~Gaxzebo~~ a very good Video card is needed, ~~considder~~ upgrading you ~~yadware~~ if everything runs ~~to slow~~.		Be warned, using it can be highly addictive, and might tempt youinto buying a new computer with high specifications. To be able to use Gazebo a very good Video card is needed, consider upgrading you hardware if everything runs slowly.

	~~Not~~ that at the moment it is tested with v8 and the new v9 not yet, but feel free to try, the fun of opensource is in to make it work ~~like you want it,~~		Note that at the moment it is tested with v8 and the new v9 is not compatiple with trhe new API yet, but feel free to try, the fun of opensource is in to make it work with v9.
	If you have it working for v9, a pull request of changes ~~neede~~ warmly welcomed by the Paparazzi developers community.		If you have it working for v9, a pull request of changes needed warmly welcomed by the Paparazzi developers community.

	Make yourself immortal; Add Gazebo v9 support		Make yourself immortal; Add Gazebo v9 support

	Gazebo ~~backend~~ for NPS [[NPS]] simulator		Gazebo back-end for NPS [[NPS]] simulator

	{TODO: Animated GIF here}}		{TODO: Animated GIF here}}
Line 18:		Line 18:
	What is the use of this all.		What is the use of this all.

	Well... to be able to test your routines before you get cold, or to warm flying your aircraft for real outside and save some ~~traveling~~ time in the same run.		Well... to be able to test your routines before you get cold, or to warm flying your aircraft for real outside and save some travelling time in the same run.
	~~Ofcoure~~ there should be a much better text here.. It's ~~wik~~ so ~~Please~~ add it and remove what you see fit.		Of course there should be a much better text here.. It's wiki, so please add it, and remove what you see fit.

	=Installation=		=Installation=

	We assume you already have Paparazzi installed via the One liner. If Not install ~~Paparzzi~~ first ~~plz~~. ~~Then~~ come back to this page.		We assume you already have Paparazzi installed via the One liner. If Not install Paparazzi first please. If that all worked, come back to this page.

	==Gazebo Installation===		==Gazebo Installation===
Line 29:		Line 29:
	Steps to install Gazebo		Steps to install Gazebo

	1. Make sure ~~gazebo 9~~ is installed~~. (~~sudo apt-get install gazebo8 libgazebo8-dev)		1. Make sure Gazebo is installed via

			$ sudo apt-get install gazebo8 libgazebo8-dev

	===Model===		===Model===
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	Gazebo uses a Front, Left, Up coordinate system for aircraft, so make sure the +x axis points forwards.		Gazebo uses a Front, Left, Up coordinate system for aircraft, so make sure the +x axis points forwards.
	The model should include a link for each motor with the same names as those listed in NPS_ACTUATOR_NAMES (see below), e.g. 'nw_motor'. Camera links should have the name specified in .dev_name in the		The model should include a link for each motor with the same names as those listed in NPS_ACTUATOR_NAMES (see below), e.g. 'nw_motor'. Camera links should have the name specified in .dev_name in the
	corresponding video_config_t struct, see sw/airborne/boards/pc_sim.h and sw/airborne/modules/computer_vision/video_thread_nps.c.		corresponding video_config_t struct, see '''sw/airborne/boards/pc_sim.h''' and '''sw/airborne/modules/computer_vision/video_thread_nps.c'''

	===World===		===World===

	Prepare the world (see conf/simulator/gazebo/worlds/ardrone.world).		Prepare the world (see conf/simulator/gazebo/worlds/ardrone.world or any other world file you might find there).

	NOTE: Pay attention to the following:		NOTE: Pay attention to the following:

	The real-time update rate should be set to zero, as the simulation ~~backend~~ is already handled by Paparazzi:		The real-time update rate should be set to zero, as the simulation back-end is already handled by Paparazzi:

	<physics type="ode">		<physics type="ode">
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	===Airframe===		===Airframe===

	Enhance your Paparzazzi airframe file to be able to use Gazebo (see examples/ardrone2_gazebo.xml):		Enhance your Paparzazzi airframe file to be able to use Gazebo (see examples/ardrone2_gazebo.xml):

Openuas at 08:45, 6 February 2018

2018-02-06T08:45:44Z

← Older revision		Revision as of 02:45, 6 February 2018
Line 13:		Line 13:

	{TODO: Animated GIF here}}		{TODO: Animated GIF here}}

			=Why=

			What is the use of this all.

			Well... to be able to test your routines before you get cold, or to warm flying your aircraft for real outside and save some traveling time in the same run.
			Ofcoure there should be a much better text here.. It's wik so Please add it and remove what you see fit.

	=Installation=		=Installation=

Openuas at 08:42, 6 February 2018

2018-02-06T08:42:01Z

← Older revision		Revision as of 02:42, 6 February 2018
Line 5:		Line 5:
	Be warned, using it can be highly addictive, and might tempt youinto buying a new computer with hight spacification. To be able to use Gaxzebo a very good Video card is needed, considder upgrading you yadware if everything runs to slow.		Be warned, using it can be highly addictive, and might tempt youinto buying a new computer with hight spacification. To be able to use Gaxzebo a very good Video card is needed, considder upgrading you yadware if everything runs to slow.

	~~Installation~~ and ~~use take alook here http://docs~~.~~paparazziuav.org/v5.12/module__fdm_gazebo.html~~		Not that at the moment it is tested with v8 and the new v9 not yet, but feel free to try, the fun of opensource is in to make it work like you want it,
			If you have it working for v9, a pull request of changes neede warmly welcomed by the Paparazzi developers community.

			Make yourself immortal; Add Gazebo v9 support

	Gazebo backend for NPS [[NPS]] simulator		Gazebo backend for NPS [[NPS]] simulator

Openuas: /* Airframe */

2018-02-06T08:38:12Z

Airframe

← Older revision		Revision as of 02:38, 6 February 2018
Line 54:		Line 54:

	===Airframe===		===Airframe===
	~~Prepare the~~ airframe file (see examples/ardrone2_gazebo.xml):		Enhance your Paparzazzi airframe file to be able to use Gazebo (see examples/ardrone2_gazebo.xml):

	a) Select Gazebo as the FDM (~~Flight Dynamics Model~~)		Select Gazebo as the '''FDM''' ('''F'''light '''D'''ynamics '''M'''odel) by adding it to the aircraft file
	~~<target name="nps" board="pc">~~
	~~<module name="fdm" type="gazebo"/>~~
	~~</target>~~

	b) Add actuator thrusts and torques to the SIMULATOR section:		<target name="nps" board="pc">
	<section name="SIMULATOR" prefix="NPS_">		<module name="fdm" type="gazebo"/>
	<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>		</target>
	<define name="ACTUATOR_THRUSTS" value="1.55, 1.55, 1.55, 1.55" type="double[]"/>
	<define name="ACTUATOR_TORQUES" value="0.155, -0.155, 0.155, -0.155" type="double[]"/>		Add actuator thrusts and torques to the SIMULATOR section:

			<section name="SIMULATOR" prefix="NPS_">
			<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
			<define name="ACTUATOR_THRUSTS" value="1.55, 1.55, 1.55, 1.55" type="double[]"/>
			<define name="ACTUATOR_TORQUES" value="0.155, -0.155, 0.155, -0.155" type="double[]"/>
	...		...
	<section>		<section>
	~~The thrusts and torques are expressed in SI units (N, Nm) and should~~
	~~be in the same order as the ACTUATOR_NAMES.~~

	c) In the same section, bypass the AHRS and INS as these are not		The thrusts and torques are expressed in SI units (N, Nm) and should be in the same order as the ACTUATOR_NAMES.
	supported yet:
	<section name="SIMULATOR" prefix="NPS_">		In the same section, bypass the AHRS and INS as these are not supported yet, so add this
	...
	<define name="BYPASS_AHRS" value="1"/>		<section name="SIMULATOR" prefix="NPS_">
	<define name="BYPASS_INS" value="1"/>		...
	...		<define name="BYPASS_AHRS" value="1"/>
	<section>		<define name="BYPASS_INS" value="1"/>
	d) If ~~required~~, enable video thread simulation:		...
	<section name="SIMULATOR" prefix="NPS_">		<section>
	...
	<define name="SIMULATE_VIDEO" value="1"/>		If you want to use visual based behaviour, enable video thread simulation:
	...
	<section>		<section name="SIMULATOR" prefix="NPS_">
	~~e) If required, specify~~ the Gazebo world and aircraft name:		...
	<section name="SIMULATOR" prefix="NPS_">		<define name="SIMULATE_VIDEO" value="1"/>
	...		...
			<section>

			Specify the Gazebo world and aircraft name:
			<section name="SIMULATOR" prefix="NPS_">
			...
	<define name="GAZEBO_WORLD" value="my_world.world"/>		<define name="GAZEBO_WORLD" value="my_world.world"/>
	<define name="GAZEBO_AC_NAME" value="my_uav"/>		<define name="GAZEBO_AC_NAME" value="my_uav"/>
	<section>		<section>
	4. Make sure all included modules work with ~~nps~~. At the ~~moment~~, most of
	the modules that depend on video_thread are only built when ap is		4. Make sure all included modules work with NS.
	selected as the target. As a quick fix, try to remove the target
	attribute from the makefile element in the module xml, e.g.:		At the current state of Paparazzi code (20180206), most of the modules that depend on ''video_thread'' are only built when the target ap (autopilot hardware) is selected as the target.
	<makefile target="ap"> ---> <makefile>
			As a quick 'n dirty fix, try to remove the target attribute from the makefile element in the module xml, e.g.:

			<makefile target="ap"> ---> <makefile>

			It would be great if as a user you would improve this and make a Pull request of your code improvments to the main Paparazzi codebase, TIA

	=Reality=		=Reality=

	Never forget... A sim is not reality... validate via testflights in the real world after you think everything you created works perfectly.		Never forget... A sim is not reality... validate via testflights in the real world after you think everything you created works perfectly.

Openuas: /* World */

2018-02-06T08:29:55Z

World

← Older revision		Revision as of 02:29, 6 February 2018
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	===World===		===World===
	b) Prepare the world (see conf/simulator/gazebo/worlds/ardrone.world).
	Pay attention to the following:		Prepare the world (see conf/simulator/gazebo/worlds/ardrone.world).
	The real-time update rate should be set to zero, as ~~this~~ is
	already handled by Paparazzi:		NOTE: Pay attention to the following:
	<physics type="ode">
	<max_step_size>0.001</max_step_size>		The real-time update rate should be set to zero, as the simulation backend is already handled by Paparazzi:
	<real_time_update_rate>0</real_time_update_rate><!-- Handled by Paparazzi! -->
	</physics>		<physics type="ode">
	Spherical coordinates should be provided for navigation.		<max_step_size>0.001</max_step_size>
	At this moment, there is an issue where Gazebo incorrectly		<real_time_update_rate>0</real_time_update_rate><!-- Handled by Paparazzi! -->
	uses a WSU coordinate system instead of ENU. This can be fixed		</physics>
	by setting the heading to 180 degrees as shown below:
	<spherical_coordinates>		Spherical coordinates should be provided for navigation. At this moment, there is an issue where Gazebo incorrectly uses a WSU coordinate system instead of ENU. This can be fixed by setting the heading to 180 degrees as shown below:
	<surface_model>EARTH_WGS84</surface_model>
	<latitude_deg>51.9906</latitude_deg>		<spherical_coordinates>
	<longitude_deg>4.37679</longitude_deg>		<surface_model>EARTH_WGS84</surface_model>
	<elevation>0</elevation>		<latitude_deg>51.9906</latitude_deg>
	<heading_deg>180</heading_deg><!-- Temporary fix for issue https://bitbucket.org/osrf/gazebo/issues/2022/default-sphericalcoordinates-frame-should -->		<longitude_deg>4.37679</longitude_deg>
	</spherical_coordinates>		<elevation>0</elevation>
			<heading_deg>180</heading_deg><!-- Temporary fix for issue https://bitbucket.org/osrf/gazebo/issues/2022/default-sphericalcoordinates-frame-should -->
			</spherical_coordinates>

	===Airframe===		===Airframe===
	Prepare the airframe file (see examples/ardrone2_gazebo.xml):		Prepare the airframe file (see examples/ardrone2_gazebo.xml):

Openuas: /* Model */

2018-02-06T08:27:18Z

Model

← Older revision		Revision as of 02:27, 6 February 2018
Line 22:		Line 22:

	===Model===		===Model===
	2. Prepare ~~the~~ Gazebo ~~world and model:~~
	~~a) Prepare the UAV~~ model (see conf/simulator/gazebo/models/ardrone/):		Prepare your Gazebo aircraft model (example see conf/simulator/gazebo/models/ardrone/):
	Place the aircraft model in the conf/simulator/gazebo/models/
	folder, this folder is added to ~~Gazebo's~~ search path when NPS is		Place the aircraft model in the conf/simulator/gazebo/models/ folder, this folder is added to the search path of Gazebo when NPS is launched.
	launched.		Gazebo uses a Front, Left, Up coordinate system for aircraft, so make sure the +x axis points forwards.
	Gazebo uses a Front, Left, Up coordinate system for aircraft, so		The model should include a link for each motor with the same names as those listed in NPS_ACTUATOR_NAMES (see below), e.g. 'nw_motor'. Camera links should have the name specified in .dev_name in the
	make sure the +x axis points forwards.		corresponding video_config_t struct, see sw/airborne/boards/pc_sim.h and sw/airborne/modules/computer_vision/video_thread_nps.c.
	The model should include a link for each motor with the same names
	as those listed in NPS_ACTUATOR_NAMES (see below), e.g. 'nw_motor'.
	Camera links should have the name specified in .dev_name in the
	corresponding video_config_t struct, see sw/airborne/boards/pc_sim.h
	and sw/airborne/modules/computer_vision/video_thread_nps.c.
	===World===		===World===
	b) Prepare the world (see conf/simulator/gazebo/worlds/ardrone.world).		b) Prepare the world (see conf/simulator/gazebo/worlds/ardrone.world).

Openuas: /* Gazebo */

2018-02-06T08:24:05Z

Gazebo

← Older revision		Revision as of 02:24, 6 February 2018
Line 1:		Line 1:
	=Gazebo=		=Gazebo=

	The nice sim framework Gazebo from here http://gazebosim.org/ can now be use from withing Paparazzi. Are you doing work on ~~drones~~ with Vision~~, Deeplearning thant~~ check it out. I might make testing your new work so much simpler.		The nice sim framework Gazebo from here http://gazebosim.org/ can now be use from withing Paparazzi. Are you doing work on UAS in combination with e.g. Vision based navigation check it out. I might make testing your new work so much simpler.

			Be warned, using it can be highly addictive, and might tempt youinto buying a new computer with hight spacification. To be able to use Gaxzebo a very good Video card is needed, considder upgrading you yadware if everything runs to slow.

	Installation and use take alook here http://docs.paparazziuav.org/v5.12/module__fdm_gazebo.html		Installation and use take alook here http://docs.paparazziuav.org/v5.12/module__fdm_gazebo.html

Openuas: WIP add info how to install and use Gazebo icw PPRZ

2018-02-06T08:19:23Z

WIP add info how to install and use Gazebo icw PPRZ

@@ Line 1: / Line 1: @@
-!Gazebo
+=Gazebo=
 The nice sim framework Gazebo from here http://gazebosim.org/ can now be use from withing Paparazzi. Are you doing work on drones with Vision, Deeplearning thant check it out. I might make testing your new work so much simpler.
 Installation and use take alook here  http://docs.paparazziuav.org/v5.12/module__fdm_gazebo.html
 Never forget... A sim is not reality... validate via testflights in the real world after you think everything you created works perfectly.