N3_sub/libraries/SITL/examples/Webots

Using SITL with 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.

Installing Webots

Please check this page. The steps is very easy and straight forward.

Running Simulator

1- open webots and open file libraries/SITL/examples/Webots/worlds/webots_quadPlus.wbt 2- press "run" button. 3- run ./libraries/SITL/examples/Webots/drone.sh

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.

Simulation using Map Street

You can use OpenStreetMaps with 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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