Gazebo Classic

Installing Gazebo Classic

Installing PX4-Autopilot

In this first version of the Pegasus the PX4-Autopilot is used for handling motor control and sensor integration. To install PX4-Autopilot, follow the following steps:

1. Install the dependencies (to be able to compile PX4-Autopilot):

   # Linux packages
   sudo apt install git make cmake python3-pip
   
   # Python packages
   pip install kconfiglib jinja2 empy jsonschema pyros-genmsg packaging toml numpy future
   

2. Clone the PX4-Autopilot:

   # Option 1: With HTTPS
   git clone https://github.com/PX4/PX4-Autopilot.git
   # Option 2: With SSH (you need to setup a github account with ssh keys)
   git clone git@github.com:PX4/PX4-Autopilot.git
   

3. Checkout to the stable version 1.14.1 and compile the code for software-in-the-loop (SITL) mode:

   # Go to the PX4 directory
   cd PX4-Autopilot
   
   # Checkout to the latest stable release
   git checkout v1.14.1
   
   # Initiate all the submodules. Note this will download modules such as SITL-gazebo which we do not need
   # but this is the safest way to make sure that the PX4-Autopilot and its submodules are all checked out in
   # a stable and well tested release
   git submodule update --init --recursive
   
   # Compile the code in SITL mode
   make px4_sitl_default gazebo