OSX make error:

[weixingsun]

Hi there,

Thanks for making this project, I am trying to compile it on my Mac laptop,
and got errors as below, please help if any library I need to add to this project.
Mac Pro of Mojave
Gazebo 9.5.0
cmake 3.13.0
make 3.81

Thanks a lot

Mac:build sun$ make
[ 16%] Building CXX object CMakeFiles/ArduPilotPlugin.dir/src/ArduPilotPlugin.cc.o
/Users/sun/Desktop/OpenAI/ardupilot_gazebo-master/src/ArduPilotPlugin.cc:914:39: error: no member named 'GetSimTime' in 'gazebo::physics::World';
did you mean 'SimTime'?
this->dataPtr->model->GetWorld()->GetSimTime();
^~~~~~~~~~
SimTime
/usr/local/Cellar/gazebo9/9.5.0/include/gazebo-9/gazebo/physics/World.hh:219:28: note: 'SimTime' declared here
public: common::Time SimTime() const;
^
/Users/sun/Desktop/OpenAI/ardupilot_gazebo-master/src/ArduPilotPlugin.cc:999:62: error: no member named 'GetAngle' in 'gazebo::physics::Joint'
const double pos = this->dataPtr->controls[i].joint->GetAngle(0).Radian();
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ^
/Users/sun/Desktop/OpenAI/ardupilot_gazebo-master/src/ArduPilotPlugin.cc:1195:53: error: no member named 'GetSimTime' in 'gazebo::physics::World';
did you mean 'SimTime'?
pkt.timestamp = this->dataPtr->model->GetWorld()->GetSimTime().Double();
^~~~~~~~~~
SimTime
/usr/local/Cellar/gazebo9/9.5.0/include/gazebo-9/gazebo/physics/World.hh:219:28: note: 'SimTime' declared here
public: common::Time SimTime() const;
^
/Users/sun/Desktop/OpenAI/ardupilot_gazebo-master/src/ArduPilotPlugin.cc:1245:27: error: no member named 'GetWorldPose' in
'gazebo::physics::Model'
this->dataPtr->model->GetWorldPose().Ign();
~~~~~~~~~~~~~~~~~~~~ ^
/Users/sun/Desktop/OpenAI/ardupilot_gazebo-master/src/ArduPilotPlugin.cc:1278:38: error: no member named 'GetWorldLinearVel' in
'gazebo::physics::Link'
this->dataPtr->model->GetLink()->GetWorldLinearVel().Ign();
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ^
5 errors generated.
make[2]: *** [CMakeFiles/ArduPilotPlugin.dir/src/ArduPilotPlugin.cc.o] Error 1
make[1]: *** [CMakeFiles/ArduPilotPlugin.dir/all] Error 2
make: *** [all] Error 2

[khancyr]

hello,

I just have update the repo, try to pull the lastest changes (with git pull). The master branch is now for gazebo9 .

[weixingsun]

Hi @khancyr

Thanks for your help on this fix, I appreciate it very much!
now I am able to build the project and launch the gzclinet:
gazebo --verbose worlds/iris_arducopter_runway.world

But I am wondering where is the ardupilot config for this project,
I am pretty new to SITL, thanks :

$ python sim_vehicle.py -v ArduCopter -f gazebo-iris --map --console --no-mavproxy
SIM_VEHICLE: Using defaults from (/Users/sun/Desktop/OpenAI/ardupilot/Tools/autotest/default_params/copter.parm,/Users/sun/Desktop/OpenAI/ardupilot/Tools/autotest/default_params/gazebo-iris.parm)
SIM_VEHICLE: Run ArduCopter
SIM_VEHICLE: "/Users/sun/Desktop/OpenAI/ardupilot/Tools/autotest/run_in_terminal_window.sh" "ArduCopter" "/Users/sun/Desktop/OpenAI/ardupilot/build/sitl/bin/arducopter" "-S" "-I0" "--home" "-35.363261,149.165230,584,353" "--model" "gazebo-iris" "--speedup" "1" "--defaults" "/Users/sun/Desktop/OpenAI/ardupilot/Tools/autotest/default_params/copter.parm,/Users/sun/Desktop/OpenAI/ardupilot/Tools/autotest/default_params/gazebo-iris.parm"
SIM_VEHICLE: Waiting for SITL to exit
......

...... another terminal pop up and said:
/Users/sun/Desktop/OpenAI/ardupilot/build/sitl/bin/arducopter -S -I0 --home -35.363261,149.165230,584,353 --model gazebo-iris --speedup 1 --defaults /Users/sun/Desktop/OpenAI/ardupilot/Tools/autotest/default_params/copter.parm,/Users/sun/Desktop/OpenAI/ardupilot/Tools/autotest/default_params/gazebo-iris.parm
Sun:~ sun$ /Users/sun/Desktop/OpenAI/ardupilot/build/sitl/bin/arducopter -S -I0 --home -35.363261,149.165230,584,353 --model gazebo-iris --speedup 1 --defaults /Users/sun/Desktop/OpenAI/ardupilot/Tools/autotest/default_params/copter.parm,/Users/sun/Desktop/OpenAI/ardupilot/Tools/autotest/default_params/gazebo-iris.parm
Unknown parameter SIM_SPEEDUP
Mac:~ sun$

[weixingsun]

As a result of above 2 steps, I can see gzclient opened and a drone is landing there
But I don't know how I can write a program/algorithm to take off or hover
Please help to give me an idea about where to specify a program to customize the copter behavior

Step 1: (I hope this will create something dynamic in the world below, but it doesn't)
python sim_vehicle.py -v ArduCopter -f gazebo-iris --map --console --no-mavproxy

Step 2: (this will create a world with copter statically)
gazebo --verbose worlds/iris_arducopter_runway.world