Added Sikorsky X-2 Coaxial Compound Helicopter Model & More...

.gitignore

@@ -95,3 +95,6 @@ cmake-build-debug
 
 # Catkin custom files
 CATKIN_IGNORE
+
+# Ignore mercurial config directory
+.hg

CMakeLists.txt

@@ -39,7 +39,9 @@ link_directories(
 set (plugins_single_header
         ArduPilotPlugin
         ArduCopterIRLockPlugin
-        GimbalSmall2dPlugin
+	ArduCopterPlugin
+        # GimbalSmall2dPlugin
+	# WindPlugin
         )
 
 add_library(ArduCopterIRLockPlugin SHARED src/ArduCopterIRLockPlugin.cc)
@@ -48,11 +50,15 @@ target_link_libraries(ArduCopterIRLockPlugin ${GAZEBO_LIBRARIES})
 add_library(ArduPilotPlugin SHARED src/ArduPilotPlugin.cc)
 target_link_libraries(ArduPilotPlugin ${GAZEBO_LIBRARIES})
 
+add_library(ArduCopterPlugin SHARED src/ArduCopterPlugin.cc)
+target_link_libraries(ArduCopterPlugin ${GAZEBO_LIBRARIES})
+
 if("${GAZEBO_VERSION}" VERSION_LESS "8.0")
     add_library(GimbalSmall2dPlugin SHARED src/GimbalSmall2dPlugin.cc)
     target_link_libraries(GimbalSmall2dPlugin ${GAZEBO_LIBRARIES})
     install(TARGETS GimbalSmall2dPlugin DESTINATION ${GAZEBO_PLUGIN_PATH})
 endif()
 
 install(TARGETS ArduCopterIRLockPlugin DESTINATION ${GAZEBO_PLUGIN_PATH})
-install(TARGETS ArduPilotPlugin DESTINATION ${GAZEBO_PLUGIN_PATH})
+install(TARGETS ArduPilotPlugin DESTINATION ${GAZEBO_PLUGIN_PATH})
+install(TARGETS ArduCopterPlugin DESTINATION ${GAZEBO_PLUGIN_PATH})

README.md

@@ -1,73 +1,206 @@
-# Ardupilot Gazebo plugin 
+# Ardupilot Gazebo Plugin & Models
+- [Ardupilot Gazebo Plugin & Models](#ardupilot-gazebo-plugin--models)
+  - [Requirements :](#requirements-)
+  - [Disclamer :](#disclamer-)
+  - [Repository Structure :](#repository-structure-)
+- [Getting Started :](#getting-started-)
+  - [How to Install :](#how-to-install-)
+  - [HELP](#help)
+    - [How to Launch :](#how-to-launch-)
+    - [Multi-Vehicle simulation](#multi-vehicle-simulation)
+    - [Example](#example)
+  - [Troubleshooting](#troubleshooting)
+    - [Missing libArduPilotPlugin](#missing-libardupilotplugin)
 
 ## Requirements :
-Gazebo version 7.x or 8.x  
-The dev branch will works on gazebo >= 9.x  
+Native Ubuntu Xenial(16.04 LTS) able to run full 3D graphics.
 
-## Disclamer : 
+**Note :** Virtual Machine such as VMWare Player does not support full 3D graphics.
+
+but, possible solution is here
+
+Type follow in the terminal,
+````
+echo "export SVGA_VGPU10=0" >> ~/.bashrc
+source ~/.bashrc
+````
+solution retreived from here http://answers.gazebosim.org/question/13214/virtual-machine-not-launching-gazebo/
+
+**Note :** This just enables running gazebo in virtual machine, does not guarantee the performance and Gazebo require much of CPU & GPU processing power depending on what you are running the simulation.
+
+ArduPilot setup for SITL launch
+Gazebo version 7 or later
+
+## Disclamer :
 This is a playground until I get some time to push the correct patch to gazebo master (I got hard time to work with mercurial..)!  
 So you can expect things to not be up-to-date.  
 This assume that your are using Ubuntu 16.04
 
-## Usage :
-I assume you already have Gazebo installed with ROS (or without).  
-If you don't have it yet, install ROS with sudo apt install ros-kinetic-desktop-full (follow instruction here http://wiki.ros.org/kinetic/Installation/Ubuntu).  
+## Repository Structure : 
+**models_gazebo :** Gazebo Original models retrieved from OSRF bitbucket repository (you can find more in https://bitbucket.org/osrf/gazebo_models/src)
+
+**models :** Ardupilot SITL compatible models.
+
+**worlds :** Ardupilot SITL example worlds.
+
+**src :** source files for Gazebo - ArduPilot Plugin
+
+**include :** header files for Gazebo - ArduPilot Plugin
+
+# Getting Started :
+## How to Install :
+I assume you already have Gazebo 7+ installed with ROS (or without).  
+If you don't have it yet, install ROS with sudo apt install ros-kinetic-desktop-full
+(follow instruction here http://wiki.ros.org/kinetic/Installation/Ubuntu).  
+
 Or install directly gazebo8 from http://gazebosim.org/tutorials?tut=install_ubuntu  
+
 libgazebo7-dev or libgazebo8-dev must be installed.
+
+**For Gazebo 7**
 ````
 sudo apt-get install libgazebo7-dev
 ````
-OR  
+OR
+
+**For Gazebo 8**
 ````
 sudo apt-get install libgazebo8-dev
 ````
+
+OR
+
+**For Gazebo 9**
+````
+sudo apt-get install libgazebo9-dev
+````
+
+
+**Common :**
 ````
-git clone https://github.com/khancyr/ardupilot_gazebo
+git clone https://github.com/SwiftGust/ardupilot_gazebo
 cd ardupilot_gazebo
 mkdir build
 cd build
 cmake ..
 make -j4
 sudo make install
 ````
-DONE !
+Set Path of Gazebo Models / Worlds...
+Open up .bashrc
+````
+sudo gedit ~/.bashrc
+````
+Copy & Paste Followings at the end of .bashrc file
+````
+source /usr/share/gazebo/setup.sh
+
+export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models:${GAZEBO_MODEL_PATH}
+export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models_gazebo:${GAZEBO_MODEL_PATH}
+export GAZEBO_RESOURCE_PATH=~/ardupilot_gazebo/worlds:${GAZEBO_RESOURCE_PATH}
+export GAZEBO_PLUGIN_PATH=~/ardupilot_gazebo/build:${GAZEBO_PLUGIN_PATH}
+````
+
+Install is complete
 
-Now launch a world file with a copter/rover/plane and ardupilot plugin, and it should work! 
+Now launch a world file with a copter/rover/plane and ardupilot plugin, and it should work!
 (I will try to add some world file and model later)
 
-## HELP 
+## HELP
+
+### How to Launch :  
+Launch Ardupilot Software In the Loop Simulation for each vehicle.
+On new terminal, Launch Gazebo with basic demo world.
+
+**ROVER**
+
 
-launch cmd :  
-ROVER
+On 1st Terminal(Launch ArduRover SITL)
 ````
-sim_vehicle.py -v APMrover2 -f gazebo-rover  -m --mav10 --map --console -I0
+sim_vehicle.py -v APMrover2 -f gazebo-rover  -m --mav10 --map --console -I1
 ````
-COPTER
+On 2nd Termianal(Launch Gazebo with differential drive Rover model, Retrieved from Husky Model)
+````
+gazebo --verbose rover_ardupilot.world
+````
+**COPTER (3DR IRIS)**
+On 1st Terminal(Launch ArduCopter SITL)
 ````
 sim_vehicle.py -v ArduCopter -f gazebo-iris  -m --mav10 --map --console -I0
 ````
-PLANE
+On 2nd Terminal(Launch Gazebo with demo 3DR Iris model)
+````
+gazebo --verbose iris_ardupilot.world
+````
+
+**PLANE**
+On 1st Terminal(Launch ArduPlane SITL)
 ````
 sim_vehicle.py -v ArduPlane -f gazebo-zephyr  -m --mav10 --map --console -I0
 ````
 
-### Missing libArduPilotPlugin.so  
-In case you see this message, check you have no error after sudo make install.  
+On 2nd Terminal(Launch Gazebo with demo Zephyr flying wing model)
+````
+gazebo --verbose zephyr_ardupilot_demo.world
+````
+
+In addition, you can use any GCS that can connect to the Ardupilot locally or remotely(will require connection setup).
+If MAVProxy Developer GCS is uncomfortable. Omit --map --console arguments out of SITL launch.
+
+And use APMPlanner2 or QGroundControl instead.
+(Possibly MissionPlanner but require Windows PC)
+
+Local connection with APMPlanner2/QGroundControl is automatic, and easier to use.
+
+For APMPlanner2
+
+Download it from here http://firmware.eu.ardupilot.org/Tools/APMPlanner/
+and launch it in terminal or run executable
+
+````
+apmplanner2
+````
+
+For QGroundControl
+
+Download it from here and follow the installation guide.
+
+https://donlakeflyer.gitbooks.io/qgroundcontrol-user-guide/en/download_and_install.html
+
+### Multi-Vehicle simulation
+This section explains how to connect any combination of multi-vehicles of ArduPilot
+
+For the multi-vehicle connection, port number is increased by 10 per instance(#)
+In SITL launch argument -I # of sim_vehicle.py 
+
+-I 0 has FDM in/out ports of 9002/9003 / GCS connection UDP:14550
+
+-I 1 has FDM in/out ports of 9012/9013 / GCS connection UDP:14560
+
+-I 2 has FDM in/out ports of 9022/9023 / GCS connection UDP:14570
+
+and so on...
+
+You will need to edit your world for any combination of Rover, Plane, Copter, etc...
+
+Additional Note for GCS Connection
+You will also need to edit ArduPilot Parameter SYSID_THISMAV to be unique from one another for the GCS connection
+
+### Example
+Look simulation of 3 IRIS quadcopter at once from Jonathan Lopes Florêncio
+https://www.youtube.com/watch?v=3c7EhVMaqKY&feature=youtu.be
+
+## Troubleshooting
+
+### Missing libArduPilotPlugin
+In case you see this message when you launch gazebo with demo worlds, check you have no error after sudo make install.  
 If no error use "ls" on the install path given to see if the plugin is really here.  
-If this is correct, check with "cat /usr/share/gazebo/setup.sh" the variable GAZEBO_PLUGIN_PATH. It should be the same as the install path. If not use "cp" to copy the lib to right path. (example : cp /usr/lib/x86_64-linux-gnu/gazebo-7/plugins/libArduPilotPlugin.so /usr/lib/x86_64-linux-gnu/gazebo-7.0/plugins/ ).  
-I don't know why it can have path mistmatch ... but it could append if you install gazebo from sasc-gazebo-sitl .
+If this is correct, check with "cat /usr/share/gazebo/setup.sh" the variable GAZEBO_PLUGIN_PATH. It should be the same as the install path. If not use "cp" to copy the lib to right path.
 
+**For Example**
 
-### Future(not activated yet)
-To use Gazebo gps, you must offset the heading of +90° as gazebo gps is NWU and ardupilot is NED 
-(I don't use GPS altitude for now)  
-example : for SITL default location
 ````
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <latitude_deg>-35.363261</latitude_deg>
-      <longitude_deg>149.165230</longitude_deg>
-      <elevation>584</elevation>
-      <heading_deg>87</heading_deg>
-    </spherical_coordinates>
+sudo cp -a /usr/lib/x86_64-linux-gnu/gazebo-7.0/plugins/ /usr/lib/x86_64-linux-gnu/gazebo-7/
 ````
+
+Path mismatch is confirmed as Gazebo's glitch. It only happens with Gazebo version 7.

include/ArduCopterPlugin.hh

@@ -0,0 +1,85 @@
+/*
+ * Copyright (C) 2016 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef GAZEBO_PLUGINS_ARDUCOPTERPLUGIN_HH_
+#define GAZEBO_PLUGINS_ARDUCOPTERPLUGIN_HH_
+
+#include <sdf/sdf.hh>
+#include <gazebo/common/common.hh>
+#include <gazebo/physics/physics.hh>
+
+
+namespace gazebo
+{
+  // Forward declare private data class
+  class ArduCopterSocketPrivate;
+  class ArduCopterPluginPrivate;
+
+  /// \brief Interface ArduCopter from ardupilot stack
+  /// modeled after SITL/SIM_*
+  ///
+  /// The plugin requires the following parameters:
+  /// <rotor>       rotor description block
+  ///    id         attribute rotor id
+  ///    <vel_p_gain>       velocity pid p gain
+  ///    <vel_i_gain>       velocity pid i gain
+  ///    <vel_d_gain>       velocity pid d gain
+  ///    <vel_i_max>        velocity pid max integral correction
+  ///    <vel_i_min>        velocity pid min integral correction
+  ///    <vel_cmd_max>      velocity pid max command torque
+  ///    <vel_cmd_min>      velocity pid min command torque
+  ///    <jointName>        rotor motor joint, torque applied here
+  ///    <turningDirection> turning direction, 'cw' or 'ccw'
+  ///    <rotorVelocitySlowdownSim> experimental, not needed
+  /// <imuName>     scoped name for the imu sensor
+  /// <connectionTimeoutMaxCount> timeout before giving up on
+  ///                             controller synchronization
+  class GAZEBO_VISIBLE ArduCopterPlugin : public ModelPlugin
+  {
+    /// \brief Constructor.
+    public: ArduCopterPlugin();
+
+    /// \brief Destructor.
+    public: ~ArduCopterPlugin();
+
+    // Documentation Inherited.
+    public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
+
+    /// \brief Update the control surfaces controllers.
+    /// \param[in] _info Update information provided by the server.
+    private: void OnUpdate();
+
+    /// \brief Update PID Joint controllers.
+    /// \param[in] _dt time step size since last update.
+    private: void ApplyMotorForces(const double _dt);
+
+    /// \brief Reset PID Joint controllers.
+    private: void ResetPIDs();
+
+    /// \brief Receive motor commands from ArduCopter
+    private: void ReceiveMotorCommand();
+
+    /// \brief Send state to ArduCopter
+    private: void SendState() const;
+
+    /// \brief Init ardupilot socket
+    private: bool InitArduCopterSockets(sdf::ElementPtr _sdf) const;
+
+    /// \brief Private data pointer.
+    private: std::unique_ptr<ArduCopterPluginPrivate> dataPtr;
+  };
+}
+#endif