PX4 version: 1.12.0

소스코드 다운로드 및 의존성

git clone [<https://github.com/PX4/PX4-Autopilot.git>](<https://github.com/PX4/PX4-Autopilot.git>) --recursive

cd PX4-Autopilot

bash ./Tools/setup/ubuntu.sh

reboot

DONT_RUN=1 make px4_sitl_default gazebo

실행 방법1 ( 기존 HILs와 동일 )

cd ~/PX4-Autopilot
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
roslaunch gazebo_ros empty_world.launch world_name:=$(pwd)/Tools/sitl_gazebo/worlds/empty.world

실행 방법2

cd ~/PX4-Autopilot
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
roslaunch px4 posix_sitl.launch

새로운 Gazebo 맵(World)을 만들었을 경우. 'physics' 설정이 중요!

	  ...
    <physics name='default_physics' default='0' type='ode'>
      <gravity>0 0 -9.8066</gravity>
      <ode>
        <solver>
          <type>quick</type>
          <iters>10</iters>
          <sor>1.3</sor>
          <use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
        </solver>
        <constraints>
          <cfm>0</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>100</contact_max_correcting_vel>
          <contact_surface_layer>0.001</contact_surface_layer>
        </constraints>
      </ode>
      <max_step_size>0.004</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>250</real_time_update_rate>
      <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
    </physics>
		...

새로운 맵 사용시 하단 수정 필요

PX4-Autopilot/launch/posix_sitl.launch 수정