ArduPilot SITL Integration

Run the simulation with a realistic ArduPilot flight controller.

Quick Start

Terminal 1 - Simulation:

source ~/ardu_ws/install/setup.bash
ros2 launch ardupilot_gz_bringup iris_runway.launch.py

Terminal 2 - Control:

mavproxy.py --console --map --master=:14550

Installation

./setup/install_ardupilot.sh
source ~/.bashrc

This installs:

ArduPilot SITL with DDS
Gazebo with ardupilot_gz
MAVProxy

MAVProxy Commands

# Set mode
mode guided

# Arm
arm throttle

# Takeoff
takeoff 5

# Land
mode land

ROS 2 Topics

ArduPilot publishes native ROS 2 topics:

# List topics
ros2 topic list

# View position
ros2 topic echo /ap/geopose/filtered

# View battery
ros2 topic echo /ap/battery

Topic	Type
`/ap/pose/filtered`	PoseStamped
`/ap/twist/filtered`	TwistStamped
`/ap/imu/filtered`	Imu
`/ap/battery`	BatteryState

Available Worlds

# Iris on runway
ros2 launch ardupilot_gz_bringup iris_runway.launch.py

# Iris in maze
ros2 launch ardupilot_gz_bringup iris_maze.launch.py

# Rover
ros2 launch ardupilot_gz_bringup wildthumper_playpen.launch.py

Using the Launcher

python run_ardupilot.py --world runway
python run_ardupilot.py --world maze
python run_ardupilot.py --vehicle rover

Troubleshooting

No ROS 2 topics:

# Check DDS is enabled
param set DDS_ENABLE 1

Can't arm:

# Disable pre-arm checks (simulation only)
param set ARMING_CHECK 0

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