Installation

• Test Environment: MS-WSL Ubuntu 22.04

1. Install ROS2 Humble. Follow the instructions from ROS2 doc.
2. Install rviz2.

   sudo apt install ros-humble-rviz2
   

3. 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.

1. Check the OpenGL version by

   glxinfo | grep "OpenGL"
   

2. Following from this issue, one can use kiask's PPA

   sudo add-apt-repository ppa:kisak/kisak-mesa
   sudo apt update
   

3. Update drivers according to this answer

   sudo add-apt-repository ppa:graphics-drivers/ppa
   sudo apt update
   sudo apt upgrade
   

4. 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