配置步骤

这里推荐使用Ubuntu20.04

1. 下载源码
   git clone https://github.com/Luviewer/uavros_ws.git --recursive

2. 安装ROS
   参考：http://wiki.ros.org/
   [这里请安装ros-noetic]

3. 安装uavros_ws环境
   步骤如下:

   sudo apt-get install ros-noetic-desktop-full ros-noetic-joy ros-noetic-octomap-ros python3-wstool python3-catkin-tools protobuf-compiler

   sudo apt-get install libgeographic-dev ros-noetic-geographic-msgs # Required for mavros.

   sudo apt-get install libgoogle-glog-dev

   cd ~/uavros_ws/src

   catkin_init_workspace

   wstool init

   cd ~/uavros_ws

   catkin init # If you haven't done this before.

   catkin build

   最后配置环境变量：

   echo "source ~/uavros_ws/devel/setup.bash" >> ~/.bashrc

   echo "export GAZEBO_MODEL_PATH=~/uavros_ws/src/uav_simulator/uav_gazebo/models:${GAZEBO_MODEL_PATH}" >> ~/.bashrc

   echo "export GAZEBO_RESOURCE_PATH=~/uavros_ws/src/uav_simulator/uav_gazebo/worlds:${GAZEBO_RESOURCE_PATH}" >> ~/.bashrc

   source ~/.bashrc

4. 安装ardupilot
   参考: https://ardupilot.org/dev/index.html

   1. 在任意位置下载源码:
      git clone https://github.com/Luviewer/ardupilot.git --recursive
   2. 安装ardupilot环境
      cd ardupilot
Tools/environment_install/install-prereqs-ubuntu.sh -y
. ~/.profile

5. 安装VSCODE

6. 运行仿真
   roslaunch uav_gazebo spawn.launch
~/xx/ardupilot/ArduCopter/../Tools/autotest/sim_vehicle.py -f gazebo-iris --console xx为ardupilot路径

uav_simulator 是核心仓库，更深入学习可参考https://github.com/Luviewer/uav_simulator.git