ardupilot_gz

This project contains ROS 2 packages for simulating models controlled by ArduPilot SITL with DDS support in Gazebo.

The project is adapted from the ros_gz_project_template project.

Included packages

• ardupilot_gz_description - Contains the SDFormat description of the simulated system.

• ardupilot_gz_gazebo - Contains Gazebo specific code such as system plugins.

• ardupilot_gz_application - Contains ROS 2 specific code and configuration.

• ardupilot_gz_bringup - Contains launch files and high level utilities.

Prerequisites

• Install ROS 2 Humble
• Install Gazebo Harmonic (default) or Gazebo Jetty
• Follow the Installing Build Dependencies section of AP_DDS’s README

Install

1. Create a workspace folder

mkdir -p ~/ros2_ws/src

2. Get the project source

cd ~/ros2_ws
vcs import --input https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos --recursive src

3. Set the Gazebo version to Harmonic or Jetty

It is recommended to put this in your ~/.bashrc or equivalent file.

export GZ_VERSION=harmonic

4. Update ROS dependencies

cd ~/ros2_ws
source /opt/ros/humble/setup.bash
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -y

5. Build

cd ~/ros2_ws
colcon build

6. Test

source ./install/setup.bash
colcon test --packages-select ardupilot_sitl ardupilot_dds_tests ardupilot_gazebo ardupilot_gz_applications ardupilot_gz_description ardupilot_gz_gazebo ardupilot_gz_bringup
colcon test-result --all --verbose

Usage

1. Source the workspace

source ~/ros2_ws/install/setup.sh

2. Launch the simulation

ros2 launch ardupilot_gz_bringup iris_runway.launch.py rviz:=true use_gz_tf:=true

3. Launch a GCS (MAVPorxy)

mavproxy.py --master udp:127.0.0.1:14550  --console --map

4. Inspect topics

```bash $ ros2 topic list /ap/battery/battery0 /ap/clock /ap/navsat/navsat0

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