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Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Hamish Willee
GitHub
@@ -0,0 +1,388 @@
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# Gazebo Simulation
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:::warning
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Gazebo was previously known as "Gazebo Ignition" (while _Gazebo Classic_ was previously known as Gazebo).
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See the [official blog post](https://www.openrobotics.org/blog/2022/4/6/a-new-era-for-gazebo) for more information.
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:::
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[Gazebo](https://gazebosim.org/home) is an open source robotics simulator.
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It supersedes the older [Gazebo Classic](../sim_gazebo_classic/index.md) simulator, and is the only supported version of Gazebo for Ubuntu 22.04 and onwards.
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**Supported Vehicles:** Quadrotor, Plane, VTOL, Rover
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<lite-youtube videoid="eRzdGD2vgkU" title="PX4 SITL Ignition Gazebo Tunnel Environment"/>
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:::info
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See [Simulation](../simulation/index.md) for general information about simulators, the simulation environment, and simulation configuration (e.g. supported vehicles).
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:::
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## Встановлення (Ubuntu Linux)
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Gazebo Harmonic is installed by default on Ubuntu 22.04 as part of the normal [development environment setup](../dev_setup/dev_env_linux_ubuntu.md#simulation-and-nuttx-pixhawk-targets).
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:::info
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The PX4 installation scripts are based on the instructions: [Binary Installation on Ubuntu](https://gazebosim.org/docs/harmonic/install_ubuntu/) (gazebosim.org).
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:::
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:::warning
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Gazebo Harmonic cannot be installed on Ubuntu 20.04 and earlier.
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On Ubuntu 20.04 we recommend use [Gazebo Classic](../sim_gazebo_classic/index.md).
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If you really must use Gazebo then you should update to Ubuntu 22.04.
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Until November 2024 it is possible to [install Gazebo Garden](https://gazebosim.org/docs/garden/install_ubuntu/) on Ubuntu 20.04.
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After that date Garden will reach end-of-life and should not be used.
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:::
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## Запуск симуляції
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Gazebo SITL simulation can be conveniently run using a `make` command as shown below:
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```sh
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cd /path/to/PX4-Autopilot
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make px4_sitl gz_x500
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```
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Це запускає як екземпляр PX4 SITL, так і клієнт Gazebo.
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The supported vehicles and `make` commands are listed below.
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Note that all gazebo make targets have the prefix `gz_`.
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| Транспортний засіб | Команда | `PX4_SYS_AUTOSTART` |
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| ------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------- | ------------------- |
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| [Quadrotor (x500)](../sim_gazebo_gz/vehicles.md#x500-quadrotor) | `make px4_sitl gz_x500` | 4001 |
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| [X500 Quadrotor with Depth Camera (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-depth-camera-front-facing) | `make px4_sitl gz_x500_depth` | 4002 |
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| [Quadrotor(x500) with Vision Odometry](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-visual-odometry) | `make px4_sitl gz_x500_vision` | 4005 |
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| [Quadrotor(x500) with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing) | `make px4_sitl gz_x500_lidar_down` | 4016 |
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| [Quadrotor(x500) with 2D LIDAR](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar) | `make px4_sitl gz_x500_lidar_2d` | 4013 |
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| [Quadrotor(x500) with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing) | `make px4_sitl gz_x500_lidar_front` | 4017 |
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| [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) | `make px4_sitl gz_x500_gimbal` | 4019 |
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| [VTOL](../sim_gazebo_gz/vehicles.md#standard-vtol) | `make px4_sitl gz_standard_vtol` | 4004 |
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| [Plane](../sim_gazebo_gz/vehicles.md#standard-plane) | `make px4_sitl gz_rc_cessna` | 4003 |
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| [Advanced Plane](../sim_gazebo_gz/vehicles.md#advanced-plane) | `make px4_sitl gz_advanced_plane` | 4008 |
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| [Differential Rover](../sim_gazebo_gz/vehicles.md#differential-rover) | `make px4_sitl gz_r1_rover` | 4009 |
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| [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) | `make px4_sitl gz_rover_ackermann` | 4012 |
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| [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) | `make px4_sitl gz_quadtailsitter` | 4018 |
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| [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) | `make px4_sitl gz_tiltrotor` | 4020 |
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All [vehicle models](../sim_gazebo_gz/vehicles.md) (and [worlds](#specify-world)) are included as a submodule from the [Gazebo Models Repository](../sim_gazebo_gz/gazebo_models.md) repository.
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Вищенаведені команди запускають єдиний засіб з повним користувацьким інтерфейсом.
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_QGroundControl_ should be able to automatically connect to the simulated vehicle.
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### Автономний режим
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Another way that Gazebo SITL can be connected is in _standalone mode_.
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У цьому режимі PX4 SITL і Gazebo запускаються окремо у своїх власних терміналах.
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За замовчуванням ці термінали знаходяться на одному й тому ж комп'ютері, але ви можете також під'єднати екземпляри SITL та Gazebo, які працюють на будь-яких двох пристроях в мережі (або навіть різних мережах, якщо ви використовуєте VPN для їх з'єднання).
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You start PX4 in standalone mode by prefixing the `make` command with `PX4_GZ_STANDALONE=1`:
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```sh
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cd /path/to/PX4-Autopilot
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PX4_GZ_STANDALONE=1 make px4_sitl gz_x500
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```
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PX4 SITL will then wait until it detects an instance of _gz-server_, and then connect to it.
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:::info
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If you have not yet started _gz-server_ when you run the `make` command, you will see the following warning until gazebo has been started and an instance of _gz-server_ is detected by PX4:
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```sh
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WARN [gz bridge] Service call timed out as Gazebo has not been detected
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```
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:::
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The simplest way to start the simulation is to use the Python script [simulation-gazebo](https://github.com/PX4/PX4-gazebo-models/blob/main/simulation-gazebo), which can be found in the [Gazebo Models Repository](../sim_gazebo_gz/gazebo_models.md) repository.
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This can be used to launch a _gz-server_ instance with any supported world and vehicle.
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The script can be used without installing any additional dependencies, and will fetch the supported PX4 models and worlds on first use (by default) and save them to `~/.simulation-gazebo`.
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При повторному запуску цей скрипт використає цю директорію для отримання моделей та світів.
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Therefore if you want to use your own model and run it in standalone mode, you will have to place its source code in `~/.simulation-gazebo`.
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You can fetch the script locally using any method you like, such as `wget`:
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```sh
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wget https://raw.githubusercontent.com/PX4/PX4-gazebo-models/main/simulation-gazebo
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```
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Скрипт може бути запущено так:
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```sh
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cd /path/to/script/
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python3 simulation-gazebo
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```
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For more information and arguments, see [Gazebo Models](../sim_gazebo_gz/gazebo_models.md).
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:::info
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If `make px4_sitl gz_x500` gives the error `ninja: error: unknown target 'gz_x500'` then run `make distclean` to start from a clean slate, and try running `make px4_sitl gz_x500` again.
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:::
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### Режим без інтерфейсу
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Можливо ви забажаєте запустити Gazebo у "режимі без інтерфейсу" (без графічного інтерфейсу Gazebo) оскільки він використовує менше ресурсів та не покладається на те, що ваша система має відеокарту яка належним чином підтримує рендеринг OpenGL.
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Це пришвидшує завантаження та запуск, та для багатьох простих випадків це може бути все що вам потрібно.
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The simulation can be run in headless mode by prefixing the command with the `HEADLESS=1` environment variable:
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```sh
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HEADLESS=1 make px4_sitl gz_x500
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```
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### Вказання світу
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Симуляція може бути запущена в певному світі додаванням бажаного світу до імені бажаного рухомого засобу.
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For example, to run the windy world with the `x500` vehicle you can specify:
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```sh
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make px4_sitl gz_x500_windy
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```
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You can also specify the world using the `PX4_GZ_WORLD` environment variable:
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```sh
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PX4_GZ_WORLD=windy make px4_sitl gz_x500
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```
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The [supported worlds](../sim_gazebo_gz/worlds.md) are listed below.
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| World | Команда | Опис |
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| ---------- | -------------------------- | ----------------------------------------------------------- |
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| `default` | `make px4_sitl *` | Порожній світ (сіра площина) |
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| `aruco` | `make px4_sitl *_aruco` | Empty world with aruco marker for testing precision landing |
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| `baylands` | `make px4_sitl *_baylands` | Світ Baylands оточений водою |
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| `lawn` | `make px4_sitl *_lawn` | Lawn world for testing rovers |
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| `rover` | `make px4_sitl *_rover` | Rover world (optimised/preferred) |
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| `walls` | `make px4_sitl *_walls` | Wall world for testing collision prevention |
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| `windy` | `make px4_sitl *_windy` | Порожній світ з увімкненим вітром |
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:::warning
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Note that if no world is specified, PX4 will use the `default` world.
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However you must not _explicitly_ specify `_default` on the model as this will prevent PX4 from launching.
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In other words, use `make px4_sitl gz_x500` instead of `make px4_sitl gz_x500_default` for the default.
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:::
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:::info
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Baylands world throws a warning in Gazebo Harmonic because there are so many meshes.
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This can be ignored:
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```sh
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[Wrn] [SDFFeatures.cc:843] The geometry element of collision [collision] couldn't be created
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```
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:::
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### Зміна швидкості симуляції
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PX4 SITL can be run faster or slower than real-time when using Gazebo.
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The speed factor is set using the environment variable `PX4_SIM_SPEED_FACTOR`.
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For example, to run the Gazebo simulation of the X500 frame at 2 times the real time speed:
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```sh
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PX4_SIM_SPEED_FACTOR=2 make px4_sitl gz_x500
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```
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Запустити в половину реального часу:
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```sh
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PX4_SIM_SPEED_FACTOR=0.5 make px4_sitl gz_x500
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```
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You can apply the factor to all SITL runs in the current session using `EXPORT`:
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```sh
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export PX4_SIM_SPEED_FACTOR=2
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make px4_sitl gz_x500
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```
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:::info
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At some point IO or CPU will limit the speed that is possible on your machine and it will be slowed down "automatically".
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Потужні комп'ютери зазвичай можуть запускати симуляцію зі швидкістю близько 6-10 разів, для ноутбуків досягається швидкість близько 3-4 разів.
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:::
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:::info
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The simulators are run in _lockstep_, which means that Gazebo runs the simulator at the same speed as PX4 (the GZBridge sets the PX4 time on every sim step, in the `clockCallback`).
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In addition to being a precondition for running the simulation faster/slower than real-time, this also allows you to pause the simulation in order to step through code.
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Lockstep cannot be disabled on Gazebo.
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:::
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## Використання/Налаштування
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Конвеєр запуску дозволяє дуже гнучке налаштування.
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Зокрема можливо:
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- Почати нову симуляцію з довільним світом або під'єднатись до вже запущеної симуляції.
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- Додати новий засіб до симуляції або поєднати новий екземпляр PX4 з вже наявним.
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Ці сценарії керуються встановленням відповідних змінних середовища.
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### Синтаксис
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Синтаксис запуску набирає форми:
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```sh
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ARGS ./build/px4_sitl_default/bin/px4
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```
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where `ARGS` is a list of environment variables including:
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- `PX4_SYS_AUTOSTART` (**Mandatory**):
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Sets the [airframe autostart id](../dev_airframes/adding_a_new_frame.md) of the PX4 airframe to start.
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- `PX4_GZ_MODEL_NAME`:
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Sets the name of an _existing_ model in the gazebo simulation.
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Якщо вказано, скрипт запуску намагається прив'язати новий екземпляр PX4 до ресурсу Gazebo, що відповідає точно такому імені.
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- The setting is mutually exclusive with `PX4_SIM_MODEL`.
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- `PX4_SIM_MODEL`:
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Sets the name of a new Gazebo model to be spawned in the simulator.
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Якщо вказано, скрипт запуску шукає модель у шляху ресурсів Gazebo, що відповідає даній змінній, відтворює її й пов'язує новий екземпляр PX4 з нею.
|
||||
|
||||
- The setting is mutually exclusive with `PX4_GZ_MODEL_NAME`.
|
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|
||||
::: info
|
||||
The environmental variable `PX4_GZ_MODEL` has been deprecated and its functionality merged into `PX4_SIM_MODEL`.
|
||||
|
||||
:::
|
||||
|
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- `PX4_GZ_MODEL_POSE`:
|
||||
Sets the spawning position and orientation of the model when `PX4_SIM_MODEL` is adopted.
|
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If provided, the startup script spawns the model at a pose following the syntax `"x,y,z,roll,pitch,yaw"`, where the positions are given in metres and the angles are in radians.
|
||||
|
||||
- If omitted, the zero pose `[0,0,0,0,0,0]` is used.
|
||||
- Якщо надано менше ніж 6 значень, то відсутні фіксуються на нулі.
|
||||
- This can only be used with `PX4_SIM_MODEL` (not `PX4_GZ_MODEL_NAME`).
|
||||
|
||||
- `PX4_GZ_WORLD`:
|
||||
Sets the Gazebo world file for a new simulation.
|
||||
If it is not given, then [default](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/default.sdf) is used.
|
||||
|
||||
- Ця змінна ігнорується, якщо наявна модель вже запущена.
|
||||
- This value should be [specified for the selected airframe](#adding-new-worlds-and-models) but may be overridden using this argument.
|
||||
|
||||
- `PX4_SIMULATOR=GZ`:
|
||||
Sets the simulator, which for Gazebo must be `gz`.
|
||||
|
||||
- This value should be [set for the selected airframe](#adding-new-worlds-and-models), in which case it does not need to be set as an argument.
|
||||
|
||||
- `PX4_GZ_STANDALONE`:
|
||||
Lets PX4 know that it should not launch an instance of Gazebo.
|
||||
Gazebo will need to be launched separately, as described in [Standalone Mode](#standalone-mode).
|
||||
|
||||
- `PX4_GZ_SIM_RENDER_ENGINE`:
|
||||
Sets the render engine to be used by gazebo.
|
||||
|
||||
Рушій рендерингу за замовчуванням (OGRE 2) погано підтримується на деяких платформах/середовищах.
|
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Specify `PX4_GZ_SIM_RENDER_ENGINE=ogre` to set the rendering engine to OGRE 1 if you have rendering issues when running PX4 on a virtual machine.
|
||||
|
||||
- `PX4_SIM_SPEED_FACTOR`:
|
||||
Sets the speed factor to run the simulation at [faster/slower than realtime](#change-simulation-speed).
|
||||
|
||||
- `PX4_GZ_FOLLOW_OFFSET_X`, `PX4_GZ_FOLLOW_OFFSET_Y`, `PX4_GZ_FOLLOW_OFFSET_Z`:
|
||||
Set the relative offset of the follow camera to the vehicle.
|
||||
|
||||
The PX4 Gazebo worlds and and models databases [can be found on GitHub here](https://github.com/PX4/PX4-gazebo-models).
|
||||
|
||||
:::info
|
||||
`gz_env.sh.in` is compiled and made available in `$PX4_DIR/build/px4_sitl_default/rootfs/gz_env.sh`
|
||||
:::
|
||||
|
||||
### Приклади
|
||||
|
||||
Ось кілька прикладів різних сценаріїв, описаних вище.
|
||||
|
||||
1. **Start simulator + default world + spawn vehicle at default pose**
|
||||
|
||||
```sh
|
||||
PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4
|
||||
```
|
||||
|
||||
2. **Start simulator + default world + spawn vehicle at custom pose (y=2m)**
|
||||
|
||||
```sh
|
||||
PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4
|
||||
```
|
||||
|
||||
3. **Start simulator + default world + link to existing vehicle**
|
||||
|
||||
```sh
|
||||
PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_NAME=x500 ./build/px4_sitl_default/bin/px4
|
||||
```
|
||||
|
||||
4. **Start simulator in standalone mode + connect to Gazebo instance running default world**
|
||||
|
||||
```sh
|
||||
PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4
|
||||
```
|
||||
|
||||
В окремому терміналі запустіть:
|
||||
|
||||
```sh
|
||||
python /path/to/simulation-gazebo
|
||||
```
|
||||
|
||||
## Додавання нових світів та моделей
|
||||
|
||||
SDF files, mesh files, textures and anything else to do with the functionality and appearance in Gazebo for worlds and models can be placed in the appropriate `/worlds` and `/models` directories in [PX4-gazebo-models](https://github.com/PX4/PX4-gazebo-models).
|
||||
|
||||
В межах PX4 дотримуйтесь наступних кроків, щоб додати моделі та світи.
|
||||
|
||||
### Додавання моделі
|
||||
|
||||
Щоб додати нову модель:
|
||||
|
||||
1. Define an [airframe configuration file](../dev_airframes/adding_a_new_frame.md).
|
||||
|
||||
2. Define the default parameters for Gazebo in the airframe configuration file (this example is from [x500 quadcopter](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500)):
|
||||
|
||||
```ini
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=<your model name>}
|
||||
```
|
||||
|
||||
- `PX4_SIMULATOR=${PX4_SIMULATOR:=gz}` sets the default simulator (Gz) for that specific airframe.
|
||||
|
||||
- `PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}` sets the [default world](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/default.sdf) for that specific airframe.
|
||||
|
||||
- Setting the default value of `PX4_SIM_MODEL` lets you start the simulation with just:
|
||||
|
||||
```sh
|
||||
PX4_SYS_AUTOSTART=<your new airframe id> ./build/px4_sitl_default/bin/px4
|
||||
```
|
||||
|
||||
3. Add CMake Target for the [airframe](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt).
|
||||
|
||||
- If you plan to use "regular" mode, add your model SDF to `Tools/simulation/gz/models/`.
|
||||
- If you plan to use _standalone_ mode, add your model SDF to `~/.simulation-gazebo/models/`
|
||||
|
||||
Ви звичайно також можете використовувати обидва варіанти.
|
||||
|
||||
### Додавання світу
|
||||
|
||||
Щоб додати новий світ:
|
||||
|
||||
1. Add your world to the list of worlds found in the [`CMakeLists.txt` here](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/gz_bridge/CMakeLists.txt).
|
||||
This is required in order to allow `CMake` to generate correct targets.
|
||||
|
||||
- If you plan to use "normal" mode, add your world sdf to `Tools/simulation/gz/worlds/`.
|
||||
- If you plan to use _standalone_ mode, add your world SDF to `~/.simulation-gazebo/worlds/`
|
||||
|
||||
:::info
|
||||
As long as the world file and the model file are in the Gazebo search path (`GZ_SIM_RESOURCE_PATH`) it is not necessary to add them to the PX4 world and model directories.
|
||||
However, `make px4_sitl gz_<model>_<world>` won't work with them.
|
||||
:::
|
||||
|
||||
## Симуляція кількох рухомих засобів
|
||||
|
||||
Симуляція кількох засобів підтримується на комп'ютерах з Linux.
|
||||
|
||||
For more information see: [Multi-Vehicle Simulation with Gazebo](../sim_gazebo_gz/multi_vehicle_simulation.md)
|
||||
|
||||
## Подальша інформація
|
||||
|
||||
- [px4-simulation-ignition](https://github.com/Auterion/px4-simulation-ignition)
|
||||
Reference in New Issue
Block a user