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https://github.com/CopterExpress/clover.git
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docs: update simulation installation instructions
This commit is contained in:
Oleg Kalachev
@@ -2,7 +2,9 @@
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Setting up the simulation environment from scratch requires some effort, but results in the most performant setup, with less chance of driver issues.
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Prerequisites: Ubuntu 18.04, [native ROS installation](ros-install.md).
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> **Hint** See up-to-date commands set for installation Clover simulation software in the script, that builds the virtual machine image with the simulator: `[install_software.sh]`(https://github.com/CopterExpress/clover_vm/blob/master/scripts/install_software.sh).
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Prerequisites: Ubuntu 20.04 and [ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu).
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## Create a workspace for the simulation
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@@ -13,8 +15,9 @@ Create the workspace and clone Clover sources:
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```bash
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mkdir -p ~/catkin_ws/src
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cd ~/catkin_ws/src
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git clone https://github.com/CopterExpress/clover
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git clone https://github.com/CopterExpress/ros_led
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git clone --depth 1 https://github.com/CopterExpress/clover
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git clone --depth 1 https://github.com/CopterExpress/ros_led
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git clone --depth 1 https://github.com/ethz-asl/mav_comm
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```
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Install all prerequisites using `rosdep`:
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@@ -25,14 +28,21 @@ rosdep update
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rosdep install --from-paths src --ignore-src -y
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```
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Install Python-dependencies:
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```bash
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sudo /usr/bin/python3 -m pip install -r ~/catkin_ws/src/clover/clover/requirements.txt
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```
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## Get PX4 sources
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PX4 will be built along with the other packages in our workspace. You may clone it directly into the workspace or put it somewhere and symlink to `~/catkin_ws/src`. We will need to put its `sitl_gazebo` submodule in `~/catkin_ws/src` as well. For simplicity's sake we will clone the firmware directly to the workspace:
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```bash
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cd ~/catkin_ws/src
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git clone --recursive https://github.com/CopterExpress/Firmware -b v1.10.1-clever
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ln -s Firmware/Tools/sitl_gazebo ./sitl_gazebo
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git clone --recursive --depth 1 --branch v1.12.0 https://github.com/PX4/PX4-Autopilot.git ~/PX4-Autopilot
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ln -s ~/PX4-Autopilot ~/catkin_ws/src/PX4-Autopilot
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ln -s ~/PX4-Autopilot/Tools/sitl_gazebo ~/catkin_ws/src/sitl_gazebo
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```
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## Install PX4 prerequisites
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@@ -40,7 +50,7 @@ ln -s Firmware/Tools/sitl_gazebo ./sitl_gazebo
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PX4 comes with its own script for dependency installation. We may as well leverage it:
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```bash
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cd ~/catkin_ws/src/Firmware/Tools/setup
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cd ~/catkin_ws/src/PX4-Autopilot/Tools/setup
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sudo ./ubuntu.sh
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```
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@@ -52,27 +62,20 @@ You may want to skip installing the ARM toolchain if you're not planning on comp
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sudo ./ubuntu.sh --no-nuttx
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```
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## Patch Gazebo plugins
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## Add the Clover airframe
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The `sitl_gazebo` package containing required Gazebo plugins needs patching due to recent changes in MAVLink. These patches are already preapplied in the [virtual machine image](simulation_vm.md) and are stored in the VM repository. Run the following commands to download and apply the patches:
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Add the Clover airframe to PX4 using the command:
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```bash
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cd ~/catkin_ws/src/Firmware/Tools/sitl_gazebo
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wget https://raw.githubusercontent.com/CopterExpress/clover_vm/master/assets/patches/sitl_gazebo.patch
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patch -p1 < sitl_gazebo.patch
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rm sitl_gazebo.patch
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ln -s "$(catkin_find clover_simulation airframes)"/* ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/
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```
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## Install geographiclib datasets
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`mavros` requires geographiclib datasets to be present:
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`mavros` package requires geographiclib datasets to be present:
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```bash
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cd ~
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wget https://raw.githubusercontent.com/mavlink/mavros/6f5bd5a1a67c19c2e605f33de296b1b1be9d02fc/mavros/scripts/install_geographiclib_datasets.sh
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chmod +x ./install_geographiclib_datasets.sh
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sudo ./install_geographiclib_datasets.sh
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rm ./install_geographiclib_datasets.sh
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sudo /opt/ros/noetic/lib/mavros/install_geographiclib_datasets.sh```
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```
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## Build the simulator
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@@ -2,7 +2,9 @@
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Настройка среды для симуляции с нуля требует некоторых усилий, однако это приведет к улучшению производительности и к уменьшению вероятности появления проблем с драйверами.
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Требования для сборки: установлены Ubuntu 18.04 и [ROS](ros-install.md).
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> **Hint** Смотрите актуальный набор команд установки необходимого ПО для запуска симулятора Клевера в скрипте сборки виртуальной машины с симулятором: [`install_software.sh`](https://github.com/CopterExpress/clover_vm/blob/master/scripts/install_software.sh).
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Требования для сборки: Ubuntu 20.04 и [ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu).
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## Создание рабочего пространства для симулятора
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@@ -13,8 +15,9 @@
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```bash
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mkdir -p ~/catkin_ws/src
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cd ~/catkin_ws/src
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git clone https://github.com/CopterExpress/clover
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git clone https://github.com/CopterExpress/ros_led
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git clone --depth 1 https://github.com/CopterExpress/clover
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git clone --depth 1 https://github.com/CopterExpress/ros_led
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git clone --depth 1 https://github.com/ethz-asl/mav_comm
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```
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Установите все зависимости, используя `rosdep`:
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@@ -25,14 +28,21 @@ rosdep update
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rosdep install --from-paths src --ignore-src -y
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```
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Установите Python-зависимости:
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```bash
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sudo /usr/bin/python3 -m pip install -r ~/catkin_ws/src/clover/clover/requirements.txt
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```
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## Загрузка исходного кода PX4
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Сборка PX4 будет осуществлена вместе с другими пакетами в нашем рабочем пространстве. Вы можете загрузить его прямо в рабочее пространство или поместить куда-нибудь и создать симлинк к `~/catkin_ws/src`. Нам также нужно будет поместить его подмодуль `sitl_gazebo` в `~/catkin_ws/src`. Для упрощения мы загрузим прошивку прямо в рабочее пространство:
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```bash
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cd ~/catkin_ws/src
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git clone --recursive https://github.com/CopterExpress/Firmware -b v1.10.1-clever
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ln -s Firmware/Tools/sitl_gazebo ./sitl_gazebo
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git clone --recursive --depth 1 --branch v1.12.0 https://github.com/PX4/PX4-Autopilot.git ~/PX4-Autopilot
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ln -s ~/PX4-Autopilot ~/catkin_ws/src/PX4-Autopilot
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ln -s ~/PX4-Autopilot/Tools/sitl_gazebo ~/catkin_ws/src/sitl_gazebo
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```
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## Установка зависимостей PX4
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@@ -40,7 +50,7 @@ ln -s Firmware/Tools/sitl_gazebo ./sitl_gazebo
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PX4 имеет свой собственный скрипт для установки зависимостей. Воспользуемся им:
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```bash
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cd ~/catkin_ws/src/Firmware/Tools/setup
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cd ~/catkin_ws/src/PX4-Autopilot/Tools/setup
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sudo ./ubuntu.sh
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```
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@@ -52,15 +62,12 @@ sudo ./ubuntu.sh
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sudo ./ubuntu.sh --no-nuttx
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```
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## Патчинг плагинов Gazebo
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## Добавление рамы Клевера
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Пакет `sitl_gazebo`, содержащий плагины нужно пропатчить, из-за недавних изменений в MAVLink. Эти патчи уже применены в [образе виртуальной машины](simulation_vm.md) и хранятся в репозитории CopterExpress/VM. Запустите следующие команды для загрузки и применения патчей:
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Добавьте в PX4 раму Клевера с помощью следующей команды:
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```bash
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cd ~/catkin_ws/src/Firmware/Tools/sitl_gazebo
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wget https://raw.githubusercontent.com/CopterExpress/clover_vm/master/assets/patches/sitl_gazebo.patch
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patch -p1 < sitl_gazebo.patch
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rm sitl_gazebo.patch
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ln -s "$(catkin_find clover_simulation airframes)"/* ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/
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```
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## Установка датасетов geographiclib
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@@ -68,11 +75,7 @@ rm sitl_gazebo.patch
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Для `mavros` нужны датасеты geographiclib:
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```bash
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cd ~
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wget https://raw.githubusercontent.com/mavlink/mavros/6f5bd5a1a67c19c2e605f33de296b1b1be9d02fc/mavros/scripts/install_geographiclib_datasets.sh
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chmod +x ./install_geographiclib_datasets.sh
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sudo ./install_geographiclib_datasets.sh
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rm ./install_geographiclib_datasets.sh
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sudo /opt/ros/noetic/lib/mavros/install_geographiclib_datasets.sh
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```
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## Сборка симулятора
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