Ardupilot Update

2026-01-02 21:45:16 +00:00
parent 61c47f82fc
commit 6c72bbf24c
13 changed files with 2189 additions and 8 deletions
--- a/setup/install_arch.sh
+++ b/setup/install_arch.sh
@@ -4,6 +4,7 @@
 # =============================================================================
 # Installs PyBullet and Python dependencies
 # ROS 2 requires AUR (optional - not needed for standalone mode)
+# ArduPilot SITL can be built from source (optional)
 #
 # Usage: ./install_arch.sh
 # =============================================================================
@@ -153,6 +154,7 @@ echo "Checking Python packages:"
 python -c "import pybullet; print('  PyBullet: OK')" || echo "  PyBullet: FAILED"
 python -c "import numpy; print('  NumPy: OK')" || echo "  NumPy: FAILED"
 python -c "from PIL import Image; print('  Pillow: OK')" || echo "  Pillow: FAILED"
+python -c "from pymavlink import mavutil; print('  pymavlink: OK')" || echo "  pymavlink: FAILED"

 echo ""
 echo "=============================================="
@@ -185,4 +187,28 @@ echo "After installing, use:"
 echo "  ign gazebo gazebo/worlds/drone_landing.sdf  # Terminal 1"
 echo "  python run_gazebo.py --pattern circular     # Terminal 2"
 echo ""
+echo "=============================================="
+echo "  Optional: Install ArduPilot SITL"
+echo "=============================================="
+echo ""
+echo "For realistic flight controller simulation:"
+echo ""
+echo "  # Clone and build ArduPilot"
+echo "  git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git ~/ardupilot"
+echo "  cd ~/ardupilot"
+echo "  pip install -r Tools/environment_install/requirements.txt"
+echo ""
+echo "  # Clone and build ArduPilot Gazebo plugin"
+echo "  git clone https://github.com/ArduPilot/ardupilot_gazebo.git ~/ardupilot_gazebo"
+echo "  cd ~/ardupilot_gazebo && mkdir build && cd build"
+echo "  cmake .. && make -j$(nproc)"
+echo ""
+echo "  # Add to environment"
+echo "  export ARDUPILOT_HOME=~/ardupilot"
+echo "  export PATH=\$PATH:\$ARDUPILOT_HOME/Tools/autotest"
+echo "  export GZ_SIM_SYSTEM_PLUGIN_PATH=~/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH"
+echo ""
+echo "Then run:"
+echo "  python run_ardupilot.py --pattern circular"
+echo ""

--- a/setup/install_ubuntu.sh
+++ b/setup/install_ubuntu.sh
@@ -3,8 +3,9 @@
 # Drone Simulation - Ubuntu/Debian Installation Script
 # =============================================================================
 # Installs ROS 2, Gazebo, PyBullet, and all required dependencies
+# Includes optional ArduPilot SITL setup for realistic flight controller
 #
-# Usage: ./install_ubuntu.sh
+# Usage: ./install_ubuntu.sh [--with-ardupilot]
 # =============================================================================

 set -e
@@ -47,10 +48,20 @@ sudo apt-get install -y \
    python3 \
    python3-pip \
    python3-venv \
-    git
+    git \
+    cmake \
+    build-essential

 echo "[INFO] System dependencies installed"

+# Check for ArduPilot option
+INSTALL_ARDUPILOT=false
+for arg in "$@"; do
+    if [ "$arg" = "--with-ardupilot" ]; then
+        INSTALL_ARDUPILOT=true
+    fi
+done
+
 # -----------------------------------------------------------------------------
 # Step 2: ROS 2 Repository Setup
 # -----------------------------------------------------------------------------
@@ -190,10 +201,25 @@ fi
 # Set Gazebo model path
 export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/gazebo/models:$GZ_SIM_RESOURCE_PATH"

+# Set ArduPilot paths if installed
+if [ -d "$HOME/ardupilot" ]; then
+    export ARDUPILOT_HOME="$HOME/ardupilot"
+    export PATH="$PATH:$ARDUPILOT_HOME/Tools/autotest"
+    echo "[OK] ArduPilot SITL available"
+fi
+
+# Set ArduPilot Gazebo plugin path if installed
+if [ -d "$HOME/ardupilot_gazebo/build" ]; then
+    export GZ_SIM_SYSTEM_PLUGIN_PATH="$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH"
+    export GZ_SIM_RESOURCE_PATH="$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH"
+    echo "[OK] ArduPilot Gazebo plugin available"
+fi
+
 echo ""
 echo "Environment ready! Run one of:"
 echo "  python standalone_simulation.py  (No ROS 2 required)"
 echo "  python simulation_host.py        (With ROS 2)"
+echo "  python run_ardupilot.py          (With ArduPilot SITL)"
 echo ""
 EOF

@@ -213,6 +239,66 @@ echo "Checking Python packages:"
 python3 -c "import pybullet; print('  PyBullet: OK')" || echo "  PyBullet: FAILED"
 python3 -c "import numpy; print('  NumPy: OK')" || echo "  NumPy: FAILED"
 python3 -c "from PIL import Image; print('  Pillow: OK')" || echo "  Pillow: FAILED"
+python3 -c "from pymavlink import mavutil; print('  pymavlink: OK')" || echo "  pymavlink: FAILED"
+
+# -----------------------------------------------------------------------------
+# Step 9: Optional ArduPilot SITL Installation
+# -----------------------------------------------------------------------------
+if [ "$INSTALL_ARDUPILOT" = true ]; then
+    echo ""
+    echo "[STEP 9] Installing ArduPilot SITL..."
+    
+    # Install ArduPilot dependencies
+    sudo apt-get install -y \
+        python3-dev \
+        python3-opencv \
+        python3-wxgtk4.0 \
+        python3-matplotlib \
+        python3-lxml \
+        libxml2-dev \
+        libxslt1-dev || true
+    
+    # Clone ArduPilot if not exists
+    if [ ! -d "$HOME/ardupilot" ]; then
+        echo "[INFO] Cloning ArduPilot..."
+        git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git "$HOME/ardupilot"
+        cd "$HOME/ardupilot"
+        Tools/environment_install/install-prereqs-ubuntu.sh -y
+        cd "$PROJECT_ROOT"
+    else
+        echo "[INFO] ArduPilot already exists at $HOME/ardupilot"
+    fi
+    
+    # Clone ArduPilot Gazebo plugin if not exists
+    if [ ! -d "$HOME/ardupilot_gazebo" ]; then
+        echo "[INFO] Cloning ArduPilot Gazebo plugin..."
+        git clone https://github.com/ArduPilot/ardupilot_gazebo.git "$HOME/ardupilot_gazebo"
+        cd "$HOME/ardupilot_gazebo"
+        mkdir -p build && cd build
+        cmake .. -DCMAKE_BUILD_TYPE=Release
+        make -j$(nproc)
+        cd "$PROJECT_ROOT"
+    else
+        echo "[INFO] ArduPilot Gazebo plugin already exists at $HOME/ardupilot_gazebo"
+    fi
+    
+    # Add to bashrc
+    if ! grep -q "ARDUPILOT_HOME" ~/.bashrc; then
+        echo '' >> ~/.bashrc
+        echo '# ArduPilot SITL' >> ~/.bashrc
+        echo 'export ARDUPILOT_HOME=$HOME/ardupilot' >> ~/.bashrc
+        echo 'export PATH=$PATH:$ARDUPILOT_HOME/Tools/autotest' >> ~/.bashrc
+    fi
+    
+    if ! grep -q "ardupilot_gazebo" ~/.bashrc; then
+        echo '' >> ~/.bashrc
+        echo '# ArduPilot Gazebo Plugin' >> ~/.bashrc
+        echo 'export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH' >> ~/.bashrc
+        echo 'export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH' >> ~/.bashrc
+    fi
+    
+    echo "[INFO] ArduPilot SITL installed"
+fi

 echo ""
 echo "=============================================="
@@ -223,8 +309,17 @@ echo "Quick start:"
 echo "  source activate.sh"
 echo "  python standalone_simulation.py"
 echo ""
-echo "Or with ROS 2:"
+echo "With ROS 2 + Gazebo:"
 echo "  python simulation_host.py     # Terminal 1"
-echo "  python ros_bridge.py          # Terminal 2"
-echo "  python controllers.py         # Terminal 3"
+echo "  python run_bridge.py          # Terminal 2"
 echo ""
+echo "With ArduPilot SITL (realistic flight controller):"
+echo "  ros2 launch gazebo/launch/ardupilot_drone.launch.py  # Terminal 1"
+echo "  sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON  # Terminal 2"
+echo "  python run_ardupilot.py --no-sitl                    # Terminal 3"
+echo ""
+if [ "$INSTALL_ARDUPILOT" != true ]; then
+    echo "To install ArduPilot SITL, run:"
+    echo "  ./setup/install_ubuntu.sh --with-ardupilot"
+    echo ""
+fi