ROS2-Humble

Requirements:

1. UBUNTU 22.04 LTS
2. ROS-Humble
3. Gazebo-garden
4. Ardupilot

UBUNTU 22.04 LTS

Install and setup in Virtual box or dual boot. https://ubuntu.com/download/desktop

ROS-Humble

1. Referred from https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

2. Steps to install and setup i. Set locale

    locale
    sudo apt update && sudo apt install locales
    sudo locale-gen en_US en_US.UTF-8
    sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
    export LANG=en_US.UTF-8
   

   ii. Setup Sources

   sudo apt install software-properties-common
   sudo add-apt-repository universe
   sudo apt update && sudo apt install curl -y
   sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
   

   echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
   

   iii. Install ROS

   sudo apt update
   sudo apt upgrade
   sudo apt install ros-humble-desktop-full
   

   iv. Environment setup

   source /opt/ros/humble/setup.bash
   echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
   

3. Test by running ros2 Output will be:

   usage: ros2 [-h] [--use-python-default-buffering]
         Call `ros2 <command> -h` for more detailed usage. ...
   ros2 is an extensible command-line tool for ROS 2.
   options:
     -h, --help            show this help message and exit
     --use-python-default-buffering
                     Do not force line buffering in stdout and instead use
                     the python default buffering, which might be affected
                     by PYTHONUNBUFFERED/-u and depends on whatever stdout
                     is interactive or not
   Commands:
     action     Various action related sub-command
     bag        Various rosbag related sub-commands    
     component  Various component related sub-commands    
     daemon     Various daemon related sub-commands    
     doctor     Check ROS setup and other potential issues    
     interface  Show information about ROS interfaces    
     launch     Run a launch file    
     lifecycle  Various lifecycle related sub-commands    
     multicast  Various multicast related sub-commands    
     node       Various node related sub-commands    
     param      Various param related sub-commands    
     pkg        Various package related sub-commands    
     run        Run a package specific executable    
     security   Various security related sub-commands    
     service    Various service related sub-commands    
     topic      Various topic related sub-commands    
     wtf        Use `wtf` as alias to `doctor`        
     Call `ros2 <command> -h` for more detailed usage.
   

Gazebo - garden

1. Referred from https://gazebosim.org/docs/garden/install_ubuntu https://gazebosim.org/docs/garden/ros_installation

2. Steps to install with ROS2:

   sudo apt-get update
   sudo apt-get install lsb-release wget gnupg
   

   sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
   

   echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
   

   sudo apt-get update
   sudo apt-get install gz-garden
   

   Install ros_gz from the non official binary packages from apt:

   sudo apt-get install ros-humble-ros-gzgarden
   

3. Check installation:

   gz sim -v4 -r shapes.sdf
   

Ardupilot Plugin

1. Referred from https://ardupilot.org/dev/docs/sitl-with-gazebo.html#sitl-with-gazebo

2. Steps to install: i. To install ardupilot_gazebo plugin Install additional dependencies

   sudo apt update
   sudo apt install libgz-sim7-dev rapidjson-dev
   

   sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
   

   echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
   

   sudo apt-get update
   sudo apt-get install gz-garden
   

   Install ros_gz from the non official binary packages from apt:

   sudo apt-get install ros-humble-ros-gzgarden
   

3. Check installation:

   gz sim -v4 -r shapes.sdf
   

Ardupilot Plugin

1. Referred from https://ardupilot.org/dev/docs/sitl-with-gazebo.html#sitl-with-gazebo

2. Steps to install:

i. To install ardupilot_gazebo plugin Install additional dependencies

sudo apt update
sudo apt install libgz-sim7-dev rapidjson-dev

ii. Create a workspace folder and clone the repository:

mkdir -p gz_ws/src && cd gz_ws/src
git clone https://github.com/ArduPilot/ardupilot_gazebo

iii. Build the plugin:

export GZ_VERSION=garden
cd ardupilot_gazebo
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
make -j4

iv. Configure the environment:

export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/gz_ws/src/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH
export GZ_SIM_RESOURCE_PATH=$HOME/gz_ws/src/ardupilot_gazebo/models:$HOME/gz_ws/src/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH

echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/gz_ws/src/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH" >> ~/.bashrc
echo "export GZ_SIM_RESOURCE_PATH=$HOME/gz_ws/src/ardupilot_gazebo/models:$HOME/gz_ws/src/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH" >> ~/.bashrc

v. In a new terminal install ardupilot (https://ardupilot.org/dev/docs/building-setup-linux.html#building-setup-linux) Open terminal in Home location

```
git clone https://github.com/ArduPilot/ardupilot -b master
cd ardupilot
```

Install some required packages:

Tools/environment_install/install-prereqs-ubuntu.sh -y

Reload the path (log-out and log-in to make permanent):

. ~/.profile

waf calls (do not use sudo):

./waf configure --board CubeBlack
./waf copter

clean:

./waf clean

Running gazebo SITL

1. Terminal - 1 : To run gazebo world:

   gz sim -v4 -r iris_runway.sdf
   

2. Terminal - 2 : To connect to ardupilot plugin:

   cd ardupilot
   sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --map --console