My job is to emulate his work and port the code of px4-fully-actuated to v1.11.3 version. It has been tested to work well on Ubuntu 20.04 and Gazebo 11.
If there is no catkin workspace, you can create a catkin workspace and go to the src directory with the following command:
mkdir -p catkin_ws/src
cd catkin_ws/src
Now clone this repository and all its submodules:
git clone https://github.com/Lokleee/PX4-fully-actuated-v1.11.3.git Firmware --recursive
Test that everything works fine using the guide on this page.
Add the environment variable PX4PATH to your .bashrc file to get global access to the path. For example, if you have used the catkin_ws workspace created above, you can do this:
echo 'export PX4PATH=$HOME/catkin_ws/src/Firmware' >> ~/.bashrc
Now make sure you properly set the Gazebo path to the one in this repo. Add the following to the end of your .bashrc file:
source /usr/share/gazebo/setup.sh
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$PX4PATH:$PX4PATH/Tools/sitl_gazebo
export GAZEBO_PLUGIN_PATH=$PX4PATH/build/px4_sitl_default/build_gazebo:$GAZEBO_PLUGIN_PATH
export GAZEBO_MODEL_PATH=$PX4PATH/Tools/sitl_gazebo/models:$GAZEBO_MODEL_PATH
export GAZEBO_RESOURCE_PATH=$PX4PATH/Tools/sitl_gazebo/worlds:$GAZEBO_RESOURCE_PATH
The current tilted-hex airframe is defined to have 30 degrees of side tilt. To change the geometry for your airframe, you can modify the definition of the tilted hex or add your own definition. To add the new definition file, please consult the PX4 guides above. To modify our airframe, you can find it here.
To simulate using Gazebo, you can run the SITL simulation of our UAV using the following command (needs to be executed from the Firmware folder):
make px4_sitl gazebo_hexa_x_tilt_p