ROS_gazebo

Ros installation

open a terminal and type,

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update

sudo apt install ros-noetic-desktop-full

this will install Ros noetic full version (it wil take time to install). Setup Environment use this command every time you open a new terminal to get access to ROS

source /opt/ros/noetic/setup.bash

Install Dependencies

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

refer below page for more info http://wiki.ros.org/noetic/Installation/Ubuntu

Installing Ardupilot Directory

https://github.com/punkypankaj/Installing-ArduPilot-directory/blob/main/docs.md

Installing Ardupilot plugin for gazebo

https://github.com/Intelligent-Quads/iq_tutorials/tree/master or https://github.com/punkypankaj/Installing-Gazebo-and-ArduPilot-Plugin/blob/main/Docs.md or https://github.com/dronedojo/ardupilot_gazebo

Run simulation

Open first terminal, and copy the following commands to open gazebo simulator make sure you have the world named as irish_world in gazebo_ros file.

source /opt/ros/noetic/setup.bash

roslaunch gazebo_ros iris_world.launch

if no world is present clone the following git,

git clone https://github.com/dronedojo/ardupilot_gazebo -b master

open second terminal , and copy the following to connect to the vehicle in gazebo world.

source /opt/ros/noetic/setup.bash

cd ~/ardupilot/ArduCopter/
sim_vehicle.py -v ArduCopter -f gazebo-iris --console

once you run the command you will be connected to the drone, you can now see drone's parameter in console and controll it through terminal.

Open third terminal, to autonomously simulate drone using dronekit code

python3 test.py

Image of simulation