I have installed gazebo garden on Ubuntu 22.04 per the instructions at :
https://gazebosim.org/docs/garden/install_ubuntu
I then installed the ardupilot_gazebo plugin as per :
https://github.com/ArduPilot/ardupilot_gazebo
However, when I test the install using
gz sim -v4 -r iris_runway.sdf
the following error arises
[Wrn] [gz.cc:100] Fuel world download failed because Fetch failed. Other errors
Unable to find or download file
I am guessing the environment has not been configured correctly and looking for any suggestions.
open your bashrc with gedit ~/.bashrc
add to end of the file correct path to the models directory.
export GAZEBO_MODEL_PATH=/path/to/ardupilot_gazebo/models
reload bashrc
This did not work. But below is what did get the gazebo sim to work. However, when I then run the plugin vehicle in ardupilot “sim_vehicle.py”, the simulation model does not follow commands.
export PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/snap/bin:/snap/bin:/home/jax200/.local/bin
export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/drone/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH}
export GZ_SIM_RESOURCE_PATH=$HOME/drone/ardupilot_gazebo/models:$HOME/drone/ardupilot_gazebo/worlds:${GZ_SIM_RESOURCE_PATH}
Hi @jax2000, if you run with full logging:
gz sim -v4 iris_runway.sdf
what are you seeing in the console? Similarly what is the output from the MAVProxy terminal running:
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --map
and the SITL window that pops up separately? If you can see the iris on the runway then it’s most likely a problem the connection or version of ArduPilot that you’re running (you’ll generally want to run master).
Thank you for responding.
gz sim -v4 iris_runway.sdf
what are you seeing in the console?
I see the iris copter on the runway.
what is the output from the MAVProxy terminal running:…
It shows “No JSON sensor message received, resending servos”
and “MAV> link 1 down”
If I run the simple sim_vehicle.py --map --console it connects ok and I can send mavproxy commands, but there is no response from the gazebo vehicle.
It is now working if I run the SITL first and be patient for the gazebo sim to work.
Hello @jax2000, I would like to get the same setup as yours going, but I am running into issues. I am running on a laptop with a an integrated Intel GPU and a dedicated Nvidia GPU, and I think this is giving me problems because I installed Gazebo Garden in Ubuntu 22 (within WSL2) but its not working. When I try to run “gz sim -v4 -r shapes.sdf” (I am following along with the ArduPilot instructions), it never finishes loading and gets stuck on a blank, all black screen. Is your hardware setup similar to mine? And if so, is there any prerequisite drivers or configurations I must do before installing Ubuntu or Gazebo?