#Installation

1. Install Gazebo 8.1.1 following instructions here

2. Clone our fork of PX4 repo https://dev.px4.io/en/setup/dev_env_linux_ubuntu.html

wget
https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_nuttx.sh

run ubuntu_sim.sh

3. Clone the GZMOCAP library

git clone https://github.com/wil3/gzmocap.git

4. Clone our fork or pygazebo

git clone https://github.com/wil3/pygazebo.git

Make sure to switch to the correct branch

git checkout f_msgs

Install sudo pip install .

4. Clone pymavlink There is a bug in how pymavlink is installed with dronekit, it uses the wrong version causes a "Exception in message handler for HEARTBEAT" message

Install from source or install separately so version is 2.2.4 > 4. Clone this library

4. Need to properly configure PX4 to use mocap data,

• ATT_EXT_HDG_M 2
• CBRK_GPSFAIL = 240024

4. enable logging by adding the file to, PX4/build_posix_sitl_lpe/tmp/rootfs/fs/microsd/etc/logging/logger_topics.txt

make posix_sitl_lpe gazebo

To run in headless you can set the variable

HEADLESS=1 make posix_sitl_lpe gazebo

Data collected from MAVLink stream rates must match

src/modules/mavlink/mavlink_main.cpp

If we record many flights we can determine the distributions for the inputs so we can (hopfully) make a faster estimate of the best path

When mutating what distribution should be use? Should we stay close to the original value? This may make flight smoother

The PX4 logger can be customize to determine which topics are logged. You must create a file build_posix_sitl_lpe/tmp/rootfs/fs/microsd/etc/logging/logger_topics.txt and specify the topics and rates

see here for more details, https://dev.px4.io/en/log/logging.html

to run faster than real time, modify the real_time_update_rate in the world file. Setting to 0 will make it go as fast as possible http://gazebosim.org/tutorials?tut=modifying_world

default 0.002 step 500

After 128 iterations we got a segment fault. Try running without gzclient

It appears Gazebo is always publishing certain topics whether or not you subscribe. Is there a way to not have it always publish

WARNING the compilied messages in pygazebo will not work with Gazebo 8.1.1, must recompile.

protoc --proto_path=gazebo/gazebo/msgs
--python_out=/pygazebo/pygazebo/msg
msgs/*proto