- Launch the container in your host side
docker run -p 8080:80 hisazumi/aprisrc-sitl:latest
- Access http://localhost:8080 from your Web broswer
-
Execute the Gazebo simulator. Double click 'simulator.sh' on the desktop to launch Gazebo simulator. Wait a minute.
-
Open LXTerminal and execute ./Desktop/sitl.sh to launch the Software-in-the-Loop env of ArduPilot. Wait a minute.
-
Input follwing commands into SITL temrinal launched at 2.:
mode guided
arm throttle
takeoff 1
- Build sample source codes. Open LXTerminal and execute commands as follows:
cd catkin
catkin build
and relaunch LXTerminal (or just execute bash) to reload ~/.bashrc
- Edit catkin_ws/src/iq_gnc/CMakefile.txt to enable to build gnc_tutorial.cpp. Remove '#' the head of the lines as follows:
206: add_executable(gnc_example src/gnc_tutorial.cpp)
207: target_link_libraries(gnc_example ${catkin_LIBRARIES})
-
Execute the Gazebo simulator. Double click 'simulator.sh' on the desktop to launch Gazebo simulator. Wait a minute.
-
Execute ./Desktop/sitl.sh in new tab in terminal to launch the Software-in-the-Loop env of ArduPilot. Wait a minute.
-
Launch apm in new tab in terminal:
roslaunch iq_sim apm.launch
- Launch sample code in new tab:
rosrun iq_gnc gnc_example
- Finally change mode to guided in sitl.sh terminal
mode guided