Simulator for SRL MAVs

The simulators have been tested on Ubuntu 20.04 using ROS Noetic.

Setup

Install the ros-noetic-desktop-full package by following the instructions from here and then install the common dependencies.

# MAVROS and catkin
sudo apt install ros-noetic-depth-image-proc ros-noetic-mavlink ros-noetic-mavros ros-noetic-mavros-msgs python3-catkin-tools
# Other dependencies
sudo apt install libgflags-dev

Create a new ROS workspace.

mkdir -p ~/srl_mav_sim_ws/src
cd ~/srl_mav_sim_ws
catkin init

Clone this repository and all submodules.

cd ~/srl_mav_sim_ws/src
git clone --recurse-submodules [email protected]:smartroboticslab/srl-mav-sim.git
cd srl-mav-sim
# Or if you didn't add --recurse-submodules when cloning run the following:
git submodule update --init --recursive

Install the PX4 dependencies.

# PX4-Autopilot dependencies
./PX4-Autopilot/Tools/setup/ubuntu.sh --no-nuttx --no-sim-tools

To build PX4, go to the base directory and run

DONT_RUN=1 make px4_sitl ignition

See srl_sim_gazebo_ignition on how to build and use the MAV simulator based on Ignition Gazebo. See srl_mpc_examples for usage examples of the SRL linear MPC.

MAVROS

MAVROS allows communicating with the PX4 through ROS. It is the interface used by SRL controllers.