Merge pull request #3914 from jonyMarino/pr/changing_gazebodrone_build

Pr/changing gazebodrone build

GazeboDrone/CMakeLists.txt

@@ -16,12 +16,11 @@ include_directories(
     ${AIRSIM_ROOT}/AirLib/deps/eigen3
     ${AIRSIM_ROOT}/AirLib/deps/rpclib/include
     ${AIRSIM_ROOT}/AirLib/include
-    ${AIRSIM_ROOT}/AirLib/deps/MavLinkCom/include
 )
 
 link_directories(
     ${GAZEBO_LIBRARY_DIRS}
-    ../../AirLib/lib/x64
+    ../../build_release/output/lib
 )
 
 list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}")
@@ -34,6 +33,5 @@ target_link_libraries(
     pthread
     AirLib
     rpc
-    MavLinkCom
 )
 

GazeboDrone/README.md

@@ -1,47 +1,3 @@
-# General
-
-Derived from http://gazebosim.org/tutorials?tut=topics_subscribed
-
-Make sure you have installed gazebo dependencies
-
-```
-sudo apt-get install libgazebo9-dev
-```
-
-# AirLib build
-
-This project is built with g++, so AirLib needs to be built with g++ too. Change lines 56 and 57 of AirSim/build.sh with:
-```
-export CC="gcc-8"
-export CXX="g++-8"
-```
-then run ./setup.sh and ./build.sh
-
-# AirSim plugin
-
-The AirSim UE plugin needs to be built with clang, so you can't use the one compiled in the previous step. You can use [our binaries](https://github.com/microsoft/AirSim/releases) or you can clone AirSim again in another folder without the above change, and with that one, [run Blocks](https://microsoft.github.io/AirSim/build_linux/#how-to-use-airsim) or your environment.
-
-
-# AirSim settings
-
-Inside your `settings.json` file add this line:  
-`"PhysicsEngineName":"ExternalPhysicsEngine"`
-# Build
-
-```
-mkdir build && cd build
-cmake ..
-make
-```
-
-# Run
-
-Run AirSim and Gazebo
-
-then run:
-
-```
-cd build
-./GazeboDrone
-```
+# Welcome to GazeboDrone
 
+This page has moved [here](https://github.com/microsoft/AirSim/blob/master/docs/gazebo_drone.md).

build.sh

@@ -8,18 +8,22 @@ set -e
 set -x
 
 debug=false
-
+gcc=false
 # Parse command line arguments
 while [[ $# -gt 0 ]]
 do
-key="$1"
-
-case $key in
---debug)
-    debug=true
-    shift # past argument
-    ;;
-esac
+    key="$1"
+
+    case $key in
+    --debug)
+        debug=true
+        shift # past argument
+        ;;
+    --gcc)
+        gcc=true
+        shift # past argument
+        ;;
+    esac
 
 done
 
@@ -54,8 +58,13 @@ if [ "$(uname)" == "Darwin" ]; then
     export CC=/usr/local/opt/llvm@8/bin/clang
     export CXX=/usr/local/opt/llvm@8/bin/clang++
 else
-    export CC="clang-8"
-    export CXX="clang++-8"
+    if $gcc; then
+        export CC="gcc-8"
+        export CXX="g++-8"
+    else
+        export CC="clang-8"
+        export CXX="clang++-8"
+    fi
 fi
 
 #install EIGEN library
@@ -74,24 +83,24 @@ if [[ -d "./cmake/CMakeFiles" ]]; then
     rm -rf "./cmake/CMakeFiles"
 fi
 
-folder_name=""
+
 
 if [[ ! -d $build_dir ]]; then
     mkdir -p $build_dir
-    pushd $build_dir  >/dev/null
+fi
 
-    if $debug; then
-        folder_name="Debug"
-        "$CMAKE" ../cmake -DCMAKE_BUILD_TYPE=Debug \
-            || (popd && rm -r $build_dir && exit 1)
-        popd >/dev/null
-    else
-        folder_name="Release"
-        "$CMAKE" ../cmake -DCMAKE_BUILD_TYPE=Release \
-            || (popd && rm -r $build_dir && exit 1)
-        popd >/dev/null
-    fi
+pushd $build_dir  >/dev/null
+if $debug; then
+    folder_name="Debug"
+    "$CMAKE" ../cmake -DCMAKE_BUILD_TYPE=Debug \
+        || (popd && rm -r $build_dir && exit 1)   
+else
+    folder_name="Release"
+    "$CMAKE" ../cmake -DCMAKE_BUILD_TYPE=Release \
+        || (popd && rm -r $build_dir && exit 1)
 fi
+popd >/dev/null
+
 
 pushd $build_dir  >/dev/null
 # final linking of the binaries can fail due to a missing libc++abi library

docs/gazebo_drone.md

@@ -0,0 +1,56 @@
+# Welcome to GazeboDrone
+
+GazeboDrone allows connecting a gazebo drone to the AirSim drone, using the gazebo drone as a flight dynamic model (FDM) and AirSim to generate environmental sensor data. It can be used for **Multicopters**, **Fixed-wings** or any other vehicle.
+
+
+## Dependencies
+
+### Gazebo
+
+Make sure you have installed gazebo dependencies:
+
+```
+sudo apt-get install libgazebo9-dev
+```
+
+### AirLib
+
+This project is built with GCC 8, so AirLib needs to be built with GCC 8 too. 
+Run from your AirSim root folder:  
+```
+./clean.sh
+./setup.sh
+./build.sh --gcc
+```
+
+## AirSim simulator
+
+The AirSim UE plugin needs to be built with clang, so you can't use the one compiled in the previous step. You can use [our binaries](https://github.com/microsoft/AirSim/releases) or you can clone AirSim again in another folder and buid it without the above option, then you can [run Blocks](build_linux.md#how-to-use-airsim) or your own environment.
+
+
+### AirSim settings
+
+Inside your `settings.json` file you need to add this line:  
+`"PhysicsEngineName":"ExternalPhysicsEngine"`.  
+You may want to change the visual model of the AirSim drone, for that you can follow [this tutorial.](https://youtu.be/Bp86WiLUC80)
+
+
+## Build 
+
+Execute this from your AirSim root folder:  
+```
+cd GazeboDrone
+mkdir build && cd build
+cmake ..
+make
+```
+
+## Run
+
+First run the AirSim simulator and your Gazebo model and then execute this from your AirSim root folder:
+
+```
+cd GazeboDrone/build
+./GazeboDrone
+```
+

mkdocs.yml

@@ -70,6 +70,7 @@ nav:
       - "Infrared Camera": "InfraredCamera.md"
     - "ROS: AirSim ROS Wrapper": "airsim_ros_pkgs.md"
     - "ROS: AirSim Tutorial Packages": "airsim_tutorial_pkgs.md"
+    - "Import Gazebo models": "gazebo_drone.md"
     - "Domain Randomization": "retexturing.md"
     - "Mesh Vertex Buffers": "meshes.md"
     - "Playing Logs": 'playback.md'