mirror of
https://github.com/CopterExpress/clover.git
synced 2026-05-26 21:19:35 +00:00
100 lines
3.4 KiB
Markdown
100 lines
3.4 KiB
Markdown
# Native setup
|
|
|
|
Setting up the simulation environment from scratch requires some effort, but results in the most performant setup, with less chance of driver issues.
|
|
|
|
> **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).
|
|
|
|
Prerequisites: Ubuntu 20.04 and [ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu).
|
|
|
|
## Create a workspace for the simulation
|
|
|
|
Throughout this guide we will be using the `catkin_ws` as the workspace name. Feel free to change it in your setup. We will be creating it in the home directory of the current user (`~`).
|
|
|
|
Create the workspace and clone Clover sources:
|
|
|
|
```bash
|
|
mkdir -p ~/catkin_ws/src
|
|
cd ~/catkin_ws/src
|
|
git clone --depth 1 https://github.com/CopterExpress/clover
|
|
git clone --depth 1 https://github.com/CopterExpress/ros_led
|
|
git clone --depth 1 https://github.com/ethz-asl/mav_comm
|
|
```
|
|
|
|
Install all prerequisites using `rosdep`:
|
|
|
|
```bash
|
|
cd ~/catkin_ws
|
|
rosdep update
|
|
rosdep install --from-paths src --ignore-src -y
|
|
```
|
|
|
|
Install Python-dependencies:
|
|
|
|
```bash
|
|
sudo /usr/bin/python3 -m pip install -r ~/catkin_ws/src/clover/clover/requirements.txt
|
|
```
|
|
|
|
## Get PX4 sources
|
|
|
|
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:
|
|
|
|
```bash
|
|
cd ~/catkin_ws/src
|
|
git clone --recursive --depth 1 --branch v1.12.0 https://github.com/PX4/PX4-Autopilot.git ~/PX4-Autopilot
|
|
ln -s ~/PX4-Autopilot ~/catkin_ws/src/PX4-Autopilot
|
|
ln -s ~/PX4-Autopilot/Tools/sitl_gazebo ~/catkin_ws/src/sitl_gazebo
|
|
```
|
|
|
|
## Install PX4 prerequisites
|
|
|
|
PX4 comes with its own script for dependency installation. We may as well leverage it:
|
|
|
|
```bash
|
|
cd ~/catkin_ws/src/PX4-Autopilot/Tools/setup
|
|
sudo ./ubuntu.sh
|
|
```
|
|
|
|
This will install everything required to build PX4 and its SITL environment.
|
|
|
|
You may want to skip installing the ARM toolchain if you're not planning on compiling PX4 for your flight controller. To do this, use the `--no-nuttx` flag:
|
|
|
|
```
|
|
sudo ./ubuntu.sh --no-nuttx
|
|
```
|
|
|
|
## Add the Clover airframe
|
|
|
|
Add the Clover airframe to PX4 using the command:
|
|
|
|
```bash
|
|
ln -s "$(catkin_find clover_simulation airframes)"/* ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/
|
|
```
|
|
|
|
## Install geographiclib datasets
|
|
|
|
`mavros` package requires geographiclib datasets to be present:
|
|
|
|
```bash
|
|
sudo /opt/ros/noetic/lib/mavros/install_geographiclib_datasets.sh
|
|
```
|
|
|
|
## Build the simulator
|
|
|
|
With all dependencies installed, you can build your workspace:
|
|
|
|
```bash
|
|
cd ~/catkin_ws
|
|
catkin_make
|
|
```
|
|
|
|
> **Note** Some of the files - particularly Gazebo plugins - require large amounts of RAM to be built. You may wish to reduce the number of parallel jobs; the number of parallel jobs should be equal to the amount of RAM in gigabytes divided by 2 - so a 16GB machine should use no more than 8 jobs. You can specify the number of jobs using the `-j` flag: `catkin_make -j8`
|
|
|
|
## Run the simulator
|
|
|
|
In order to be sure that everything was built correctly, try running the simulator for the first time:
|
|
|
|
```bash
|
|
source ~/catkin_ws/devel/setup.bash
|
|
roslaunch clover_simulation simulator.launch
|
|
```
|