GAPTER: Set-up GapterSim Environment¶

sudo apt-get update

sudo apt-get install gawk make git curl cmake -y

sudo apt-get install python-rosinstall ros-indigo-octomap-msgs ros-indigo-joy ros-indigo-geodesy ros-indigo-octomap-ros ros-indigo-mavlink  ros-indigo-control-toolbox  ros-indigo-transmission-interface ros-indigo-joint-limits-interface unzip ros-indigo-mavros-msgs ros-indigo-mavros-extras ros-indigo-mavros -y

sudo apt-get install g++ python-pip python-matplotlib python-serial python-wxgtk2.8 python-scipy python-opencv python-numpy python-pyparsing ccache realpath libopencv-dev -y

sudo pip install future

sudo apt-get install libxml2-dev libxslt1-dev -y

sudo pip2 install pymavlink catkin_pkg --upgrade

sudo pip install MAVProxy==1.5.2

mkdir -p ~/gapter_sim

cd gapter_sim

git clone https://github.com/gaitech-robotics/gapter_ardupilot -b sim_ros_gazebo

mkdir -p ~/gapter_sim/ros_ws/src

cd ~/gapter_sim/ros_ws/src

catkin_init_workspace

cd ..

catkin_make

cd src/

git clone https://github.com/gaitech-robotics/gapter_ardupilot_sitl_gazebo_plugin

git clone https://github.com/gaitech-robotics/gapter_rotors_simulator -b sonar_plugin

git clone https://github.com/PX4/mav_comm.git

git clone https://github.com/ethz-asl/glog_catkin.git

git clone https://github.com/catkin/catkin_simple.git

git clone https://github.com/gaitech-robotics/mavros

git clone https://github.com/tu-darmstadt-ros-pkg/hector_gazebo/

git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git -b indigo-devel

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

sudo apt-get update

sudo apt-get remove '.*gazebo.*' '.*sdformat.*' '.*ignition-math.*'

sudo apt-get update

sudo apt-get install gazebo4 libgazebo4-dev drcsim -y

source ~/gapter_sim/ros_ws/devel/setup.bash

cd ~/gapter_sim/ros_ws

catkin_make --pkg mav_msgs mavros_msgs gazebo_msgs

source devel/setup.bash

catkin_make -j 4

source ~/gapter_sim/ros_ws/devel/setup.bash

user $: cd ~/gapter_sim/gapter_ardupilot/ArduCopter

user $: ../Tools/autotest/sim_vehicle.sh -j 4 -f Gazebo

source ~/gapter_sim/ros_ws/devel/setup.bash

roslaunch ardupilot_sitl_gazebo_plugin gapter_spawn.launch

param load /your home directory/gapter_sim/gapter_ardupilot/Tools/Frame_params/gapter.param

param set ARMING_CHECK 0

mode Guided

arm throttle

takeoff 5