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93 lines
3.2 KiB
Markdown
93 lines
3.2 KiB
Markdown
# JSBSim Simulation
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:::warning
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This simulator is [community supported and maintained](../simulation/community_supported_simulators.md).
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It may or may not work with current versions of PX4.
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See [Toolchain Installation](../dev_setup/dev_env.md) for information about the environments and tools supported by the core development team.
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:::
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[JSBSim](https://jsbsim.sourceforge.net/index.html) is a open source flight simulator ("flight dynamics model (FDM)") that runs on Microsoft Windows, Apple Macintosh, Linux, IRIX, Cygwin (Unix on Windows), etc.
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Its features include: fully configurable aerodynamics and a propulsion system that can model complex flight dynamics of an aircraft.
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Rotational earth effects are also modeled into the dynamics.
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**Supported Vehicles:** Plane, Quadrotor, Hexarotor
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<lite-youtube videoid="y5azVNmIVyw" title="JSBSim with APX4 Software-In-The-Loop Simulation"/>
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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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## Installation (Ubuntu Linux)
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:::info
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These instructions were tested on Ubuntu 18.04
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:::
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1. Install the usual [Development Environment on Ubuntu LTS / Debian Linux](../dev_setup/dev_env_linux_ubuntu.md).
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2. Install a JSBSim release from the [release page](https://github.com/JSBSim-Team/jsbsim/releases/tag/Linux):
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```sh
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dpkg -i JSBSim-devel_1.1.0.dev1-<release-number>.bionic.amd64.deb
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```
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3. (Optional) FlightGear may (optionally) be used for visualisation.
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To install FlightGear, refer to the [FlightGear installation instructions](../sim_flightgear/index.md)).
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## Running the Simulation
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JSBSim SITL simulation can be conveniently run through 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 jsbsim
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```
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This will run both the PX4 SITL instance and the FlightGear UI (for visualization).
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If you want to run without the FlightGear UI, you can add `HEADLESS=1` to the front of the `make` command.
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The supported vehicles and `make` commands are listed below (click on the links to see the vehicle images).
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| Vehicle | 통신 |
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| --------- | ---------------------------------- |
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| 표준 항공기 | `make px4_sitl jsbsim_rascal` |
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| Quadrotor | `make px4_sitl jsbsim_quadrotor_x` |
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| Hexarotor | `make px4_sitl jsbsim_hexarotor_x` |
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The commands above launch a single vehicle with the full UI.
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_QGroundControl_ should be able to automatically connect to the simulated vehicle.
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## Running JSBSim with ROS
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To run JSBSim with ROS:
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1. Clone the `px4-jsbsim-bridge` package into your catkin workspace:
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```sh
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cd <path_to_catkin_ws>/src
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git clone https://github.com/Auterion/px4-jsbsim-bridge.git
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```
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2. Build the `jsbsim_bridge` catkin package:
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```sh
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catkin build jsbsim_bridge
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```
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::: info
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You must have already set MAVROS in your workspace (if not, follow the instructions in the [MAVROS installation guide](../ros/mavros_installation.md)).
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:::
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3. So start JSBSim through ROS using the launch file as shown:
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```sh
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roslaunch jsbsim_bridge px4_jsbsim_bridge.launch
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```
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## 추가 정보
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- [px4-jsbsim-bridge readme](https://github.com/Auterion/px4-jsbsim-bridge)
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