[ PX4 ] Gazebo Ignition 환경에서 PX4 SITL - MAVSDK 연동하기

1. 개요

 

2. 개발환경

• Ubuntu 22.04 Linux
• ROS2 Humble
• PX4-Autopilot v1.16.0(Firmware )
• MAVSDK python 3.6.0

 

 

3. 설치

 

1) PX4 

 

cd
git clone https://github.com/PX4/PX4-Autopilot.git --recursive

bash ./PX4-Autopilot/Tools/setup/ubuntu.sh

 

 

2) Gazebo

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-garden

 

 

3) MAVSDK python 

#MAVSDK-Python Git 저장소 복제
cd ~
git clone https://github.com/mavlink/MAVSDK-Python --recursive
cd MAVSDK-Python

#필수 구성 요소 설치
cd proto/pb_plugins
pip3 install -r requirements.txt

cd ../..
pip3 install -r requirements.txt -r requirements-dev.txt

#코드 생성
./other/tools/run_protoc.sh

#Jetson이나 Raspberry Pi 같은 ARM 임베디드 컴퓨터인 경우 아래 환경변수 설정 
#<ARM embedded architecture> : armv6l, armv7l및 aarch64. 32bit OS는 armv7l, 64비트 배포판을 사용하는 경우는 aarch64 입니다.
export MAVSDK_SERVER_ARCH=aarch64 #일반 PC는 안해도 됨

python3 setup.py build
pip3 install -e .

#MAVSDK-Python 설치 확인
pip3 show mavsdk

 

 

 

3. 실행

 

1) PX4

cd ~/PX4-Autopilot
make px4_sitl gz_x500

 

wift@swift:~/workspace/PX4-Autopilot$ make px4_sitl gz_x500
[0/1] cd /home/swift/workspace/PX4-Aut...topilot/build/px4_sitl_default/bin/px4

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [init] found model autostart file as SYS_AUTOSTART=4001
INFO  [param] selected parameter default file parameters.bson
INFO  [param] importing from 'parameters.bson'
INFO  [parameters] BSON document size 354 bytes, decoded 354 bytes (INT32:15, FLOAT:3)
INFO  [param] selected parameter backup file parameters_backup.bson
INFO  [dataman] data manager file './dataman' size is 1208528 bytes
INFO  [init] Gazebo simulator 8.9.0
INFO  [init] Starting gazebo with world: /home/swift/workspace/PX4-Autopilot/Tools/simulation/gz/worlds/default.sdf
INFO  [init] Starting gz gui
INFO  [init] Waiting for Gazebo world...
INFO  [init] Gazebo world is ready
INFO  [init] Spawning Gazebo model
INFO  [gz_bridge] world: default, model: x500_0
INFO  [lockstep_scheduler] setting initial absolute time to 4024000 us
INFO  [commander] LED: open /dev/led0 failed (22)
WARN  [health_and_arming_checks] Preflight Fail: ekf2 missing data
WARN  [health_and_arming_checks] Preflight Fail: system power unavailable
WARN  [health_and_arming_checks] Preflight Fail: No connection to the ground control station	
INFO  [uxrce_dds_client] init UDP agent IP:127.0.0.1, port:8888
INFO  [tone_alarm] home set
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO  [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2025-07-12/01_21_29.ulg	
INFO  [logger] Opened full log file: ./log/2025-07-12/01_21_29.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
pxh> WARN  [health_and_arming_checks] Preflight Fail: No connection to the ground control station	
WARN  [health_and_arming_checks] Preflight Fail: No connection to the ground control station

 

 

 

 

 

 

 

 

2) MAVSDK

 

$ python3 takeoff_and_land.py

 

INFO  [commander] GCS connection regained	
INFO  [commander] Armed by external command	
INFO  [tone_alarm] arming warning
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2025-07-12/01_29_11.ulg	
INFO  [logger] Opened full log file: ./log/2025-07-12/01_29_11.ulg
INFO  [navigator] Using default takeoff altitude: 2.5 m	
INFO  [commander] Takeoff detected	
INFO  [commander] Landing at current position	
INFO  [commander] Landing detected	
INFO  [commander] Disarmed by landing	
INFO  [tone_alarm] notify neutral
INFO  [logger] closed logfile, bytes written: 5494396
INFO  [commander] Connection to ground station lost	
WARN  [health_and_arming_checks] Preflight Fail: No connection to the ground control station