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Run simulations in Offboard mode. |
Firstly, follow this page to put the drone in offboard control mode through PX4:
{% content-ref url="enable-offboard-mode-in-px4.md" %} enable-offboard-mode-in-px4.md {% endcontent-ref %}
The following page shows how to run the drone in offboard control using ROS:
{% embed url="https://dev.px4.io/v1.8.2/en/ros/mavros_offboard.html" %}
To run a simulation using Gazebo, enter the following commands in your terminal:
cd <path_to_Firmware>/Firmware
make posix_sitl_default gazebo 
This will bring up the PX4 shell:
[init] shell id: 140735313310464
[init] task name: px4
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
pxh>
{% hint style="info" %} Type help for more information on the PX4 shell and its commands. {% endhint %}
For further instructions follow this page:
{% embed url="https://dev.px4.io/v1.8.2/en/simulation/ros_interface.html" %}