10.1 SITL core

24.0624

(24.0508 was "Total sim P1 core")

The Gdrive document 10.1_(1.1)_sim-all_core_v49_24.0215.docx shows how to set up the basic core Gazebo world/drone simulation in Linux (old versions of this doc with a lot of mistakes, testing data, etc, are in dir /old). Below left shows the flying sim copter with sim camera, and below right is the camera view (the brown box is a book shelf). All screenshots in P1-P4 are from my PC.

The following diagram shows the components . These are described in more detail in the docx (24.0214). (need to combine these 2 diagrams)

The numbers in the diagram above refer to the youtube video numbers:

Video 02: SITL, Mavproxy. @300 Clone SITL, dependencies, @530 install future, pymavlink, Mavproxy (GCS). bashrc. @700 build arducopter. @800 run sitl.
Video 03: Install QGC (QGroundControl, used to display flight path (no Gazebo installed yet). Not really needed here.. use console map @110 download, chmod and run. @300 start SITL. autoconnected. add waypoint. upload and fly.
Video 04: Install Gazebo (includes APM (ArduPilot MavROS? plugin ==) and Camera. ROS Plugin installed later??? @100 get gazebo keys, download, install. @215 clone gazebo plugin (to AP). make, install. @420 bashrc. @450 run gazebo. @510 run sitl. @600 mavproxy takeoff.
Video 05: Install ROS (includes MavROS, mavlink). @030 install ros (sources, keys, install). desktop full. @200 init rosdep, env update. build packages dependencies. @320 install catkin. dir. dependencies. Install mavros, mavlink (wstool, catkin build, etc). bashrc. @540 clone iq_sim ROS package. @610 again catkin build.
Video 06: Ros intro. @100 install ros plugins (already in desktop). @150 roslaunch iq_sim runway.launch. @230 startsitl.sh. @345 rostopic list. rostopic echo. @520 takeoff, see rostopics. @850 launch mavros (roslaunch iq_sim apm.launch). rostopic list (has mavros topics, from fc). rostopic echo. rostopic list -v. rosmsg show (structure).
Video 09: Mavproxy commands. @000 mode guided, arm throttle, takeoff 3. pos 30 0 0 (ned). @200 params. WPNAV_. speed, accel. param show WPNAV_SPEED (cm/sec). param set WPNAV_SPEED 100. pos 30 0 0. @345 setyaw 50 10 1 (degrees, per/sec, relative). @500 RTL_ params. mode rtl. @700 list of commands.
Video 10: Gazebo modelling. @30 mercurial. clone gazebo models from osrf. add path to bashrc,source. @140 create hills.world. @250 create hills.launch. @310 roslaunch iq_sim hills.launch. #335 add models to world (hills, drone, standing person, truck). save.