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Alexey Rogachevskiy e03eaa51c4 Add official Clover simulation config (#254 )

* clover_description: Add preliminary configs/models

* clover_description: Use proper models for the drone

* clover_description: Be more specific about spawn arguments

* clover_description: Tweak parameters a bit, add collision boxes

* travis: Add .dae files to the list of ignored by eclint

* Add clover_simulation package

* clover: Add Gazebo plugin sources

* builder: Ignore clover_gazebo_plugins for actual drone

* clover_gazebo_plugins: Expose include directories for plugins

This should fix building the unit tests

* clover_gazebo_plugins: Remove dependency on gazebo_ros

This should prevent RPi image failing to build.

* travis, gitattributes: Mark clover_gazebo_plugins as vendored, stop checks

* clover_simulation: Minor package.xml fix

* clover_description: Add IMU joint preservation

Oh, Gazebo, you are ever so very helpful, it's hard to put my appreciation into words! If not for your helpful model simplification, I wouldn't have spent two hours looking through the plugin sources, the urdf sources, trying lots of
different options for the joints and links, and finally getting an answer from GazeboOverflow or however you've named your Q&A site. How wonderful it is to have an issue that makes you tear your hair out just because you know
what's better for me!

* clover_simulation: Add the bare necessities to run a simulation

* clover_gazebo_plugins: Prevent gazebo from trying to download models

For some reason the models are no longer available, so Gazebo just spends some time waiting for a timeout.

* clover_gazebo_plugins: Update Gazebo model database URI

* clover_simulation: Add script to find and launch PX4

* clover_simulation: Fix launch file

* clover_description: Add missing plugins

* simulation: Re-enable gazebo_ros dependencies

This will force rosdep to try to install gazebo_ros on the drone,
but this can be counteracted by --skip-keys rosdep option.
This does not look reliable, but I could not come up with a better
solution.

* builder: Be more resilient about apt-get errors

* builder: Remove reference to resolve_rosdep

* clover_description: Update Clover model, change xacro description

Previous xacro description file was not performing too well, so I went with
a more sensible route and started changing iris.xacro to use our Clover model.

* clover_description: Bring back constants.xacro

* clover_description: Prevent lumping for camera link/joint

* clover_description: Move near clipping plane further away

* clover_description: Allow setting width/height for rpi_cam

* clover_description: Add a Clover model with a camera

* clover_description: Remove whitespaces

* clover_description: Add drone+camera spawning .launch file

* clover_simulation: Add gazebo_ros here as well

* clover_simulation: Spawn drone with camera by default

* clover_simulation: Allow specifying data path for px4

* clover_simulation: Add startup scripts from px4

Big TODO: Clean them up eventually

* clover_simulation: Use local data files

* clover_simulation: Launch clover services by default

* clover_description: Depend on gazebo_plugins as well

libgazebo_ros_camera is in gazebo_plugins, so we need that package.

* clover_description: Fix camera_sensor description

* clover_description: Fix typo in package.xml

* clover_simulation: rename sim_gazebo.launch to simulator.launch

* clover_simulation: Don't look for ROMFS in px4_source_path

We provide our own, no reason to fail if we can't find the originals.

* clover_simulation: Remove extra CMakeLists.txt

* clover_description: Use xacro: namespace for xacro macros

* clover_description: Fix package.xml formatting

* clover_description: Better camera defaults

* clover_description: Add distance sensor

* clover_description: Add leg colliders

* clover_simulation: Actually forward vehicle name

* clover_description: Revert adding additional colliders

Unfortunately, this breaks physics too much

* clover_description: Tweak drone physics, make it more bouncy

* clover_description: Don't spawn the drone inside the floor

* clover_description: Set rangefinder min range outside drone collider

* clover_simulation: Set default flow parameters for Clover

* clover_description: Update Clover 4 model

* clover_simulation: rename sim_gazebo.launch to simulator.launch (#233)

* clover_simulation: Add workaround for Gazebo crashes in VMware

* clover_simulation: Ignore .git for now

* clover: Add "simulated" argument

* clover_simulation: Start Gazebo early

* clover_gazebo_plugins: Remove unused files

* clover_description: Allow turning sensors on and off

* clover_description: Fix rangefinder creation

* Remove unneeded stuff and use PX4 from catkin workspace

* Remove clover_gazebo_plugins

* Rename arg simulated to simulator

* clover: Change target names to avoid clashing with PX4

* Fix

* clover_simulation: Re-add deleted comments

* Add loop model

* loop.material: use tabs instead of spaces

* loop model: don’t rotate by yaw

* loop.material: turn on alpha_blend

* Rename model loop to loop_line

* Add parquet plane model

* loop_line: fix description

* Set alpha_blend for loop_solid material

* Add square line model

* Add CATKIN_IGNORE to models directory

* Add LED strip Gazebo model

* Add hardcoded URDF LED strip

* clover_description: Add LED xarco model

clover_simulation: Implement LED visual plugin and controller

* clover_simulation: Make led plugin less chatty

* clover_simulation: Depend on led_msgs

This should allow the packages to be built in the proper order.

* clover_simulation: Support building against Kinetic

* clover_simulation: Don't build plugins if Gazebo is not installed

* clover_description: Get rid of "constants" file

* clover_description: Add README

* clover_simulation: Add README

* clover_simulation: Make parquet thicker

Otherwise the rangefinder beam goes right through it.

* docs: Start working on simulation articles

* docs: Start working on the simulation overview (en)

* Add launch-file for PX4 v1.8.2

* clover_simulation: Disable GPS, use EKF2 by default

Ideally we should be using LPE, but it is broken in PX4 1.10, and our need for a somewhat working simulator is higher than for a completely correct one.

* clover_simulation: Add experimental throttling camera

* clover_simulation: Add note about throttling camera

* clover_description: Remove unused file

* clover_simulation: Link against CameraPlugin

* clover_description: Add option to use throttling_camera

* Add clover.world

* clover_description: Add calculated inertial parameters

* simulator: change default world to clover.world

* clover_simulation: Start working on ArUco generation script

Port over aruco_gazebo_gen, add more options.
Does not modify the world right now.

* clover_simulation: Make LED plugin less chatty

* clover_description: Be more ROS-like in script naming

* clover_simulation: Implement model insertion to the world

* clover_simulation: Allow specifying output model dir

* clover_description: Don't use throttling camera by default

throttling camera is still a work-in-progress, there's no reason to
enable it by default.

* clover_simulation: Use proper script name in CMakeLists

This is what typically happens when I'm rushed.

* docs: Add instructions for VM setup (en)

* clover_simulation: Remove extra spaces

* docs: Describe simulation usage (en)

* clover_simulation: Remove led_strip

* docs/assets: Crunch sim image a bit

* clover: Bump VL53L1X version

For some reason, 0.0.2 is not installable on x86.

* docs/simulation: Fix capitalization

* Remove remnants of clover_gazebo_plugins

* Remove unneeded Clover 3 model

* Remove empty.world and asphalt_plane model

* Remove unused LED strip model

* Reduce images size

* Shortened simulator related urls

Co-authored-by: Oleg Kalachev <okalachev@gmail.com>

2020-07-22 09:17:56 +03:00

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Simulation VM setup

In addition to native installation instructions, we provide a preconfigured developer virtual machine image. The image contains:

Ubuntu 18.04 with XFCE lightweight desktop environment;
ROS packages required to develop for the Clover platform;
QGroundControl;
preconfigured Gazebo simulation environment;
Visual Studio Code with C++ and Python plugins.

The VM is an easy way to set up a simulation environment, but can be used as a development environment for a real drone as well.

You can download the latest VM image in the VM releases repository.

Note

The virtual machine should be used when native installation is not feasible or possible. You may experience reduced performance in programs that use 3D rendering, like rviz and Gazebo.

Setting up the VM

You need to use a VM manager that supports OVF format, like Virtualbox, VMware Player or VMware Workstation.

Note

At the time of writing Virtualbox had issues running the VM, particularly with 3D applications. We recommend using VMware Player or VMware Workstation if possible. The following steps assume you're using VMware Player.

Make sure that you have hardware virtualization enabled in your BIOS/UEFI (it may be supported by your hardware but turned off by default). The steps to enable virtualization differ from manufacturer to manufacturer, but should be described in your system manual. Consult your system's manufacturer if you're having trouble turning virtualization on.

Import the OVA archive into your virtualization environment. Use the Open a Virtual Machine option in VMware Player:

Note

You may see a dialog box with a warning about the VM format:

You can safely ignore the warning and press Retry.
Right-click on the VM name and select Virtual Machine Settings. In the new window, set the following parameters:
- increase the amount of memory available to the virtual machine (a good rule of thumb is 2048 MB per CPU core, but no less than 4 GB):
- increase the amount available CPU cores:
- enable 3D acceleration:
- enable USB 2.0/3.0 controller (if you plan to connect external devices to the VM):
- optionally enable the "bridged" network connection (if you plan to connect to a real drone):
Note

Some host network adapters may not work well with the bridged network. Consider using external USB Wi-Fi adapters managed by your VM to connect to a real drone.
"Power on" the virtual machine. You may see a warning message about your host system not providing 3D acceleration:

Make sure you have the latest GPU drivers for your host system. If the warnings persist, add the following line to clover-devel.vmx (actual file name may differ based on the VM name):
```
mks.gl.allowBlacklistedDrivers = "TRUE"
```
You can find this file in a folder where the VM is imported to.
(Bridged networking only) Set up network bridge configuration in VM settings or using vmware-netcfg utility (in Linux):

Select vmnet0 in the networks list, set it to Bridged, and choose the adapter you are planning to use to connect to drone in the drop-down menu.

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Simulation VM setup

Setting up the VM

4.1 KiB

Raw Blame History