How to launch the simulator

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Manash Pratim Das edited this page Oct 9, 2016 · 1 revision

To install the simulator:

Clone the repository and run the setup script by ./sim_setup.sh

To run a demo:

in Terminal 1

source ~/ark_simulation/sim_catkin_ws/devel/setup.bash
cd ~/ark_simulation/ardupilot/ArduCopter/
../Tools/autotest/sim_vehicle.sh -j 4 -f Gazebo --map --console

in Terminal 2

cd ~/ark_simulation/sim_catkin_ws
source devel/setup.bash
roslaunch ardupilot_sitl_gazebo_plugin erlecopter_spawn.launch

in Terminal 1 (only once)

param load /[path_to_your_home_directory]/ark_simulation/ardupilot/Tools/Frame_params/Erle-Copter.param

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