Irlock simulation

ArduCopter
1

Hi everyone,

I’m trying to simulate an airlock with gazebo and ardupilot. I’ve installed ubuntu 18.04 with all prerequisite that ardupilot needs. I’ve followed ardupilot instructions to work with gazebo and I’ve installed the repo ardupilot_gazebo from SwiftGust.

I run gazebo(9) with the next line:
gazebo --verbose gazebo_worlds/iris_irlock_demo.world

And ardupilot with the next line from the ArduCopter directory:
…/Tools/autotest/sim_vehicle.py -f gazebo-iris --console --map

In the simulation I takeoff the drone and change to mode land but the drone never achieve to see the beacon and lands in other position.

am I working in the rigth way?

this is the output from gazebo:

Gazebo multi-robot simulator, version 9.16.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 9.16.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.1.72
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.1.72
[Msg] Loading world file [/home/jesus/Documents/SkySolutions/ardupilot_gazebo/worlds/iris_irlock_demo.world]
[Err] [InsertModelWidget.cc:426] Missing model.config for model "/home/jesus/Documents/SkySolutions/ardupilot_gazebo/models/.hg"
2

see the precision landing section of this doc:
https://ardupilot.org/dev/docs/using-sitl-for-ardupilot-testing.html

1 Like
3

Hi Tridge,

If I want to place the irlock beacon in a specific location in my gazebo world, and modify the line of sight of the onboard IRIS sitl irlock camera are there tutorials for that? Or are you able to point me to where I could best look for the answers? Any specific files in gazebo etc.

I’ve got gazebo working with arducopter sitl I just need to have a bit more control over where my ir sensor is when testing.

Any help would be very much appreciated. Please let me know if any of this is unclear.

Thanks!