使用Gazebo和ArduPilot进行多无人机SITL仿真

本文详细介绍了如何在Gazebo仿真环境中设置并运行多无人机（四旋翼）的ArduPilot SITL仿真。内容涵盖安装、单无人机和多无人机配置与运行步骤。

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  • 软件开发
  • 无人机技术

Multi-UAV Gazebo Simulation

Tutorial for Multi-UAV (Quadcopters) simulation in Gazebo and Ardupilot.

Installation

Ubuntu

Ubuntu 20.04 inside a Virtual Machine (VM) used in this tutorial.

Gazebo

The Gazebo version 11 is used in this tutorial. ROS noetic has gazebo11 but if there is problem with it, you can use steps below to install it:

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add –
sudo apt-get update
sudo apt-get install gazebo11 libgazebo11-dev

If you are using Ubuntu in a VM and gazebo has graphical problems, put the line below inside your bash (bashrc, zshrc, …):

export SVGA_VGPU10=0

Ardupilot

The latest version (4.3.6 at the time of writing) used in this tutorial. You can use steps below to install it:

git clone https://github.com/ArduPilot/ardupilot.git
cd ardupilot
git submodule update --init –recursive
alias waf="$PWD/modules/waf/waf-light"
waf configure --board=sitl
waf all
./Tools/environment_install/install-prereqs-ubuntu.sh -y

Ardupilot_gazebo

git clone https://github.com/SwiftGust/ardupilot_gazebo
cd ardupilot_gazebo
mkdir build
cd build
cmake ..
make -j2
sudo make install

After installation of this plugin, you need to add lines below inside your bash (bashrc, zshrc, …):

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}

Run single UAV

  • Open a terminal and run the commands below:
cd ~/ardupilot/Tools/autotest
./sim_vehicle.py -v ArduCopter -f gazebo-iris --console -I0
  • Open a new terminal and run:
gazebo --verbose ~/ardupilot_gazebo/worlds/iris_ardupilot.world
  • After seeing “APM: EKF2 IMU0 is using GPS” message in console, you can use the commands below in the first terminal for takeoff test:
mode guided
arm throttle
takeoff 5

Run multiple UAVs

  • For any number of UAVs that you want to simulate, make a copy of “iris_with_standoffs_demo” from ardupliot_gazebo/models folder (iris_with_standoffs_demo_1, iris_with_standoffs_demo_2, iris_with_standoffs_demo_3, …).Besides,you need to add these folders to /.gazebo folder.
  • Open “model.sdf” file inside of each iris_with_standoffs_demo folder and change <fdm_port_in> and <fdm_port_out> under plugin name=“arducopter_plugin” tag. For example for the first UAV (iris_with_standoffs_demo_1) use below:
    <plugin name="arducopter_plugin" filename="libArduPilotPlugin.so">
      <fdm_addr>127.0.0.1</fdm_addr>
      <fdm_port_in>9002</fdm_port_in>
      <fdm_port_out>9003</fdm_port_out>
  • For second UAV (iris_with_standoffs_demo_2) use below:
    <plugin name="arducopter_plugin" filename="libArduPilotPlugin.so">
      <fdm_addr>127.0.0.1</fdm_addr>
      <fdm_port_in>9012</fdm_port_in>
      <fdm_port_out>9013</fdm_port_out>

  • And so on for each UAV add “10” to each port (9002-9003, 9012-9013, 9022-9023, 9032-9033, …).

  • Now make a copy of iris_ardupilot.world from ardupilot_gazebo/worlds folder:

cd ~/ardupilot_gazebo/worlds
cp iris_ardupilot.world iris_multiuav.world
  • Open the new iris_multiuav.world file and change the bottom of file from this:
    <model name="iris">
      <pose> 0 0 0 0 0 0 </pose>
      <include>
        <uri>model://iris_with_standoffs_demo</uri>
         <pose> 0 0 0 0 0 0 </pose>
      </include>
    </model>
  • To this (this is for 4 UAV example):
    <model name="iris_demo_1">
      <pose> 0 0 0 0 0 0 0 </pose>
      <include>
        <uri>model://iris_with_standoffs_demo_1</uri>
      </include>
    </model>
    <model name="iris_demo_2">
      <pose> -10 -10 0 0 0 0 0 </pose>
      <include>
        <uri>model://iris_with_standoffs_demo_2</uri>
      </include>
    </model>
    <model name="iris_demo_3">
      <pose> -20 0 0 0 0 0 0 </pose>   
      <include>
        <uri>model://iris_with_standoffs_demo_3</uri>
      </include>
    </model>
    <model name="iris_demo_4">
      <pose> -10 10 0 0 0 0 0 </pose>     
      <include>
        <uri>model://iris_with_standoffs_demo_4</uri>
      </include>
    </model>
  • Open a terminal for each UAV and run the commands below in each of them (4 UAV example):
# First terminal:
cd ~/ardupilot1/Tools/autotest
./sim_vehicle.py -v ArduCopter -f gazebo-iris --console -I0

# Second terminal:
cd ~/ardupilot1/Tools/autotest
./sim_vehicle.py -v ArduCopter -f gazebo-iris --console -I1

# Third terminal:
cd ~/ardupilot1/Tools/autotest
./sim_vehicle.py -v ArduCopter -f gazebo-iris --console -I2

# Fourth terminal:
cd ~/ardupilot1/Tools/autotest
./sim_vehicle.py -v ArduCopter -f gazebo-iris --console -I3
  • Open a new terminal and run the command below:
gazebo --verbose ~/ardupilot_gazebo/worlds/iris_multiuav.world
  • Wait for each UAV to get “APM: EKF2 IMU0 is using GPS” message and then you can control UAVs.

附件：

Ardupilot_gazebo架构图

flowchart TB
    subgraph "Gazebo仿真环境"
        GW["Gazebo世界"] --- GP["物理引擎\n(ODE/Bullet)"]
        GP --- Models["车辆/传感器模型"]
        Models --- GPlugin["ArduPilot\nGazebo插件"]
    end
    
    subgraph "ArduPilot SITL"
        FC["飞控代码"] --- AP["ArduPilot核心"]
        AP --- Protocols["通信协议\n(MAVLink)"]
    end
    
    subgraph "通信层"
        Socket["UDP Socket\n端口连接"]
    end
    
    GPlugin <--> Socket
    Protocols <--> Socket
    
    subgraph "地面站"
        GCS["Mission Planner/\nQGroundControl"]
    end
    
    Protocols <--> GCS
    
    subgraph "用户界面/工具"
        Tools["开发工具\n监控界面"]
    end
    
    GCS --- Tools
flowchart TB
    classDef ardupilotComponents fill:#f9d5e5,stroke:#333,stroke-width:1px
    classDef gazeboComponents fill:#d5f9e5,stroke:#333,stroke-width:1px
    classDef communicationComponents fill:#e5d5f9,stroke:#333,stroke-width:1px
    classDef userComponents fill:#f9e5d5,stroke:#333,stroke-width:1px
    
    %% ArduPilot SITL 详细组件
    subgraph ARDUPILOT["ArduPilot SITL系统"]
        direction TB
        SITL_CORE["SITL核心模拟器"]
        AP_FW["ArduPilot固件\n(Copter/Plane/Rover/Sub)"]
        AHRS["姿态航向参考系统\n(AHRS)"]
        EKF["扩展卡尔曼滤波器\n(EKF2/EKF3)"]
        CONTROL["控制系统\n(PID/姿态控制器/位置控制器)"]
        NAV["导航系统\n(航路点/任务规划)"]
        MAVLIB["MAVLink库"]
        COMM_DRIVERS["通信驱动\n(UART/UDP/TCP)"]
        PARAM["参数系统"]
        FENCE["地理围栏"]
        VEHICLE_CODE["车辆特定代码"]
        LOG["数据记录系统"]
        
        SITL_CORE --> AP_FW
        AP_FW --> AHRS & EKF & CONTROL & NAV & PARAM & FENCE & VEHICLE_CODE & LOG
        AHRS --> EKF
        EKF --> CONTROL
        CONTROL --> NAV
        AP_FW --> MAVLIB --> COMM_DRIVERS
    end
    
    %% Gazebo 详细组件
    subgraph GAZEBO["Gazebo仿真环境"]
        direction TB
        WORLD["世界模型\n(.world文件)"]
        PHYSICS["物理引擎\n(ODE/Bullet/Simbody/DART)"]
        MODELS["模型定义\n(.sdf/.urdf文件)"]
        SENSORS["传感器模型\n(IMU/GPS/气压计/相机/雷达)"]
        PLUGIN_LOADER["插件加载器"]
        RENDERING["图形渲染引擎"]
        DYNAMICS["动力学计算"]
        COLLISIONS["碰撞检测"]
        ENV_EFFECTS["环境效应\n(风/湍流/降水)"]
        
        WORLD --> PHYSICS & MODELS & ENV_EFFECTS
        MODELS --> SENSORS
        PHYSICS --> DYNAMICS & COLLISIONS
        MODELS --> PLUGIN_LOADER
        WORLD --> RENDERING
    end
    
    %% 通信与中间层
    subgraph COMM["通信层"]
        direction TB
        UDP["UDP套接字\n(端口14550-14557)"]
        FDMSOCKET["FDM Socket\n(物理动态模型接口)"]
        SIM_SOCKET["仿真控制Socket"]
        MAVPROXY["MAVProxy\n(MAVLink代理)"]
        
        UDP <--> MAVPROXY
        FDMSOCKET <--> SIM_SOCKET
    end
    
    %% ArduPilot Gazebo 插件详情
    subgraph PLUGIN["ArduPilot Gazebo插件"]
        direction TB
        PLUGIN_INIT["插件初始化"]
        MODEL_INTERFACE["模型接口"]
        SENSOR_UPDATE["传感器数据更新"]
        ACTUATOR["执行器命令处理"]
        SIM_STATE["仿真状态管理"]
        POS_ROT["位置/旋转计算"]
        FORCE_TORQUE["力和力矩应用"]
        
        PLUGIN_INIT --> MODEL_INTERFACE
        MODEL_INTERFACE --> SENSOR_UPDATE & ACTUATOR
        ACTUATOR --> FORCE_TORQUE
        SENSOR_UPDATE --> POS_ROT
        POS_ROT & FORCE_TORQUE --> SIM_STATE
    end
    
    %% 用户接口组件
    subgraph USER["用户接口系统"]
        direction TB
        GCS["地面站\n(Mission Planner/QGC)"]
        MAVLINK_INSPECTOR["MAVLink检查器"]
        PLOT["实时数据绘图"]
        JOYSTICK["摇杆控制"]
        HMI["人机交互界面"]
        
        GCS --> MAVLINK_INSPECTOR & PLOT & JOYSTICK
        MAVLINK_INSPECTOR & PLOT & JOYSTICK --> HMI
    end
    
    %% 数据流路线
    %% 从Gazebo到ArduPilot的传感器数据流
    SENSORS --> PLUGIN::SENSOR_UPDATE
    PLUGIN::POS_ROT --> FDMSOCKET
    FDMSOCKET --> SITL_CORE
    
    %% 从ArduPilot到Gazebo的控制命令流
    CONTROL --> COMM_DRIVERS
    COMM_DRIVERS --> SIM_SOCKET
    SIM_SOCKET --> PLUGIN::ACTUATOR
    PLUGIN::FORCE_TORQUE --> PHYSICS
    
    %% MAVLink通信流
    MAVLIB --> UDP
    UDP --> MAVPROXY
    MAVPROXY --> GCS
    
    %% 配置和初始化流
    PARAM --> SITL_CORE
    PLUGIN_LOADER --> PLUGIN::PLUGIN_INIT
    
    %% 应用样式
    class ARDUPILOT,AP_FW,AHRS,EKF,CONTROL,NAV,MAVLIB,COMM_DRIVERS,PARAM,FENCE,VEHICLE_CODE,LOG,SITL_CORE ardupilotComponents
    class GAZEBO,WORLD,PHYSICS,MODELS,SENSORS,PLUGIN_LOADER,RENDERING,DYNAMICS,COLLISIONS,ENV_EFFECTS gazeboComponents
    class COMM,UDP,FDMSOCKET,SIM_SOCKET,MAVPROXY,PLUGIN,PLUGIN_INIT,MODEL_INTERFACE,SENSOR_UPDATE,ACTUATOR,SIM_STATE,POS_ROT,FORCE_TORQUE communicationComponents
    class USER,GCS,MAVLINK_INSPECTOR,PLOT,JOYSTICK,HMI userComponents

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