mirror of https://github.com/ArduPilot/ardupilot
23 lines
1.5 KiB
Markdown
23 lines
1.5 KiB
Markdown
# Using SITL with Webots
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[Webots](https://www.cyberbotics.com/#webots "Webots") is an open source robot simulator that provides a complete development environment to model, program and simulate robots. Thousands of institutions worldwide use it for R&D and teaching. Webots has been codeveloped by the Swiss Federal Institute of Technology in Lausanne, thoroughly tested, well documented and continuously maintained since 1996.
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#### Installing Webots
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Please check this [page](https://www.cyberbotics.com/download "page"). The steps is very easy and straight forward.
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#### Running Simulator
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1- open webots and open file libraries/SITL/examples/Webots/worlds/webots_quadPlus.wbt
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2- press "run" button.
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3- run ./libraries/SITL/examples/Webots/dronePlus.sh
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please note that to re-run the simulator you need to stop ardupilot SITL then stop webots simulator "stop button". then press "run" button on webots and then rerun ardupilot SITL.
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#### Simulation using Map Street
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You can use [OpenStreetMaps](https://www.openstreetmap.org/ "OpenStreetMaps") with [Webots](https://cyberbotics.com/doc/automobile/openstreetmap-importer "Webots"), it is fairly straight forward. CAUTION: when creating worlds using **osm_importer** world "northDirection" point to [0 0 1] instead of [1 0 0] and this leads to changes in axis that corrupt the readings. Webots controller insternally takes care of this issue as you can see in **./libraries/SITL/examples/Webots/worlds/pyramidMapReduced2.wbt**
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[![Watch the video] Flying at Giza Pyramids](https://www.youtube.com/embed/c5CJaRH9Pig)
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