mirror of https://github.com/ArduPilot/ardupilot
37 lines
1.7 KiB
Markdown
37 lines
1.7 KiB
Markdown
# Vagrant for SITL and ardupilot development
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We support a vagrant container for _easily_ running SITL (software in the loop simulator) and compling Ardupilot code.
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This README is mean't to be the instructions on how to run this.
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## Install vagrant for your platform
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Windows, OS-X and Linux are supported. [Download](https://www.vagrantup.com/downloads.html) and install per their instructions.
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If you are on Windows you will want to [install](https://www.virtualbox.org/wiki/Downloads) VirtualBox prior to installing Vagrant.
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## Start a vagrant instance
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* Change the current directory to be any directory inside this source tree and run "vagrant up". It will start running the instance
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in a VM (the initial time you run this command it will likely need to fetch many things). All the files in this directory tree will
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magically appear inside the running instance at /vagrant.
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## Start running SITL
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In your vagrant shell run:
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<pre>
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vagrant ssh -c "sim_vehicle.sh -j 2"
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</pre>
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This will build the Ardupilot code if needed and then run the simulator. The mavlink prompt allows you to monitor vehicle state. To exit
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the simulation just press control-d to exit the mavlink shell.
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## Run mission planner or mavproxy in your main OS
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You can now connect to the running simulator from your main OS. Just connect to UDP port 14550, either from mission planner or mavproxy.
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The mavproxy command is "mavproxy.py --master=127.0.0.1:14550"
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## Shutting down the simulator
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* When you are done with the simulator, just press ctrl-d in the vagrant ssh window to exit the special mavproxy that is gluing everything together.
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* Run "vagrant suspend" to stop the running VM. When you need it again just run "vagrant up" to resume.
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