Quickstart Guide — Gazebo Camera

These instructions are in progress. At time of writing build without --enable-mavlink and connect on udp port 5600 (RTSP publishing not supported). To be reviewed 9 March 2018.

This Quickstart shows how to build DCM on Ubuntu LTS 16.04 (with support for MAVLink and Avahi) and connect to a camera running within a Gazebo/PX4 vehicle simulation.

Install Gazebo/SITL

First install Gazebo/SITL (DCM requires the dependency is installed before building):

1. Install Gazebo and PX4 SITL using the scripts in the PX4 Developer Guide: Development Environment on Linux > jMAVSim/Gazebo Simulation.

2. Edit the typhoon_h480 configuration file in the PX4 source (/Firmware/posix-configs/SITL/init/ekf2/typhoon_h480).

   • Replace:

     mavlink start -x -u 14556 -r 4000000
     

   • With:

     mavlink start -x -u 14556 -r 4000000 -f
     mavlink start -x -u 24550 -f -o 34550
     

Set up DCM

To set up DCM for use with Gazebo:

1. Install the Core and Avahi pre-requisites:

   sudo apt-get update -y
   sudo apt-get install git autoconf libtool python-pip -y
   sudo apt-get install gstreamer-1.0 \
       libgstreamer-plugins-base1.0-dev \
       libgstrtspserver-1.0-dev -y
   ## Required python packages
   sudo pip2 -q install -U future
   # Avahi
   sudo apt-get install libavahi-client-dev libavahi-core-dev libavahi-glib-dev -y
   

2. Get the DCM source code by cloning the the camera-manager repo (or your fork):

   git clone https://github.com/Dronecode/camera-manager.git
   cd camera-manager
   git submodule update --init --recursive
   

3. Configure DCM as shown:

   ./autogen.sh && ./configure --enable-mavlink --enable-avahi --enable-gazebo
   

Run DCM/Gazebo

To run DCM on Ubuntu along with Gazebo PX4-SITL:

1. Open QGroundControl build from master branch.
2. Start PX4-SITL gazebo from the PX4 /Firmware folder:

   make posix gazebo_typhoon_h480
   

3. Serve the sample Camera Definition Files:
   • Open a new terminal to /samples/def
   • Enter the following command to start the server on the default port (8000):

     python -m SimpleHTTPServer
     

4. Run DCM, specifying the Gazebo configuration file:

   ./dcm -c samples/config/gazebo.conf
   

Then run the Sanity Tests to verify that DCM is working correctly.