Ignition Gazebo模拟
Ignition Gazebo supports a single frame (quadcopter) and world (July 2021).
Ignition Gazebo is an open source robotics simulator from the Ignition Robotics Project. It is derived from the popular robotics simulator Gazebo, featuring more advanced rendering, physics and sensor models.
Supported Vehicles: Quadrotor
Installation (Ubuntu Linux)
Install the usual Development Environment on Ubuntu LTS / Debian Linux.
Install Ignition Gazebo following the installation instructions (
sudo
may be required):
Running the Simulation
Ignition Gazebo SITL simulation can be conveniently run through a make
command as shown below:
This will run both the PX4 SITL instance and the ignition gazebo client
The supported vehicles and make
commands are listed below (click on the links to see the vehicle images).
Vehicle | Command |
---|---|
quadrotor(iris) |
|
The commands above launch a single vehicle with the full UI. QGroundControl should be able to automatically connect to the simulated vehicle.
In order to run the simulation without running the ignition gazebo gui, one can use the HEADLESS=1
flag. For example, the following
In order to increase the verbose output, VERBOSE_SIM=1
can be used.
Further Information
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