Home - TVMD-UAV/TVMD-GZ-Sim GitHub Wiki
Installation
- Test Environment: MS-WSL Ubuntu 22.04
- Install ROS2 Humble. Follow the instructions from ROS2 doc.
- Install rviz2.
sudo apt install ros-humble-rviz2
- Install Gazebo ignition. Follow the instructions from Gazebo doc.
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - sudo apt-get update sudo apt-get install libignition-gazebo<#>-dev
OpenGL Issue
If you are using Ubuntu 20.04, Gazebo Ignition requires OpenGL 3.3, but WSL do not support it natively.
- Check the OpenGL version by
glxinfo | grep "OpenGL"
- Following from this issue, one can use kiask's PPA
sudo add-apt-repository ppa:kisak/kisak-mesa sudo apt update
- Update drivers according to this answer
sudo add-apt-repository ppa:graphics-drivers/ppa sudo apt update sudo apt upgrade
- After that, you can check your OpenGL version by excuting
glxinfo | grep "OpenGL"
again.OpenGL vendor string: Mesa OpenGL renderer string: llvmpipe (LLVM 15.0.7, 256 bits) OpenGL core profile version string: 4.5 (Core Profile) Mesa 23.1.7 - kisak-mesa PPA OpenGL core profile shading language version string: 4.50 OpenGL core profile context flags: (none) OpenGL core profile profile mask: core profile OpenGL core profile extensions: OpenGL version string: 4.5 (Compatibility Profile) Mesa 23.1.7 - kisak-mesa PPA OpenGL shading language version string: 4.50 OpenGL context flags: (none) OpenGL profile mask: compatibility profile OpenGL extensions: OpenGL ES profile version string: OpenGL ES 3.2 Mesa 23.1.7 - kisak-mesa PPA OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20 OpenGL ES profile extensions:
Test Run
Default test run from PX4 tutorial.
make px4_sitl gz_standard_vtol
Run gazebo with a custom model. Assuming you have already built the PX4 firmware we customized, go to the project root and run the following command.
PX4_SYS_AUTOSTART=4007 ./build/px4_sitl_default/bin/px4