Better SITL

Table of contents:

Overview

In Aero, we use drone simulations a lot; especially with PX4. However, simulations are encumbersome to setup, and even more difficult to manage. PX4 makes docker images for their simulation environments, which does make things easier, but even their scripts to run them easily aren't very robust. As a solution, we at Aero developed a convenient CLI that makes things far easier to manage.

Setup

Prerequisites

• Docker Desktop or Docker Engine
• Active Docker Daemon
• Sudo privileges (Linux and MacOS)

How To Install Docker

All docker installation directions can be found here. However, there are some important things to note.

brew install colima
colima start

Installation

1. Clone this repository

git clone https://github.com/TCHS-aero/better-sitl.git

2. Install with pip

pip install better-sitl

Usage

Manage PX4 Docker images with sitl image

Usage: sitl image [OPTIONS] COMMAND [ARGS]...

  Handle installed Docker images.

Options:
  --help  Show this message and exit.

Commands:
  list    List installed PX4 Docker images.
  remove  Remove installed PX4 docker images.

Run PX4 Docker images; either Gazebo or SIH.

Usage: sitl run gazebo [OPTIONS]

  Launch PX4 SITL using Gazebo.

Options:
  --world [default|aruco|baylands|lawn|ridge|rover|walls|windy|moving_platform]
                                  World to load.  [required]
  --env KEY=VALUE                 Pass an extra environment variable. Repeat
                                  to add more.
  --model [TEXT]                  Vehicle model to load.  [required]
  --help                          Show this message and exit.

Gazebo and SIH have different models that can be ran through the simulation.

Gazebo:

1. gz_x500
2. gz_x500_vision
3. gz_x500_depth
4. gz_x500_mono_cam
5. gz_x500_mono_cam_down
6. gz_x500_mono_lidar_down
7. gz_x500_mono_lidar_front
8. gz_x500_mono_lidar_2d
9. gz_x500_gimbal
10. gz_rc_cessna
11. gz_advanced_plane
12. gz_standard_vtol
13. gz_quadtailsitter
14. gz_tiltrotor
15. gz_rover_differential
16. gz_rover_ackerman
17. gz_rover_mecanum

SIH:

1. sihsim_quadx
2. sihsim_hex
3. sihsim_airplane
4. sihsim_xvert
5. sihsim_standard_vtol
6. sihsim_rover_ackermann

Resources

• PX4 Prebuilt Packages
• Gazebo Harmonic Vehicles
• SIH Simulation Details
• Click