ArduPilot SITL with Webots

Run Iris quadcopter simulation with ArduPilot SITL + Webots

About This Repository

This repository contains:

• Webots simulation files in the Webots/ folder (worlds, controllers, protos)
• Containerized ArduPilot SITL setup for easy deployment
• Helper scripts to run the simulation with minimal configuration

We strongly recommend using the containerized version to avoid installation overhead and compatibility issues. While you can install Webots and ArduPilot manually if preferred, the containerized approach ensures a consistent environment.

The drone configuration uses the same Iris quadcopter from ArduPilot's default examples, so it should work without parameter modifications.

Important

Navigation scripts will be graded using the container version. Please ensure your code works with this setup.

Your Task

Create a control script to navigate the drone and complete the objectives described in the task booklet (Phase 2: Drone Airport Navigation).

Phase 2 — Drone Airport Navigation (summary)

• World: Webots/worlds/iris_Task_2.wbt
• New task: Navigate the environment following the yellow guiding line and use AprilTags on landing pads to identify airports and landing status.
• The solution must be implemented in Python at Task/flight.py. Evaluators will change the Airports = [] variable in your script when testing.

Implementation Options

Solutions must be implemented in Python. Compiled languages (e.g., C++) may be allowed only with prior approval from the technical committee — request approval before proceeding.

Python Implementation

• Create your script at ./Task/flight.py
• Include all dependencies in requirements.txt
• Run with: python3 Task/flight.py

Workflow

1. Complete the setup (see Quick Start below)
2. Start the simulation and ArduPilot (using ./start.sh or manually)
3. Open Webots and press ▶ (Play)
4. Run your solution script

Requirements

• Linux (Ubuntu 22.04/24.04, Fedora, Debian 12+ recommended)
• Webots R2025a installed and working (installation guide)
• Podman (recommended) or Docker

Note: For Windows installation instructions, see WINDOWS_INSTALLATION.md

Quick Start

Option A: Automatic Setup (Recommended)

Run the interactive setup script that handles everything:

git clone https://github.com/IESL-RoboGames/IESL-RoboGames-Uni-Phase1.git
cd IESL-RoboGames-Uni-Phase1
sudo ./setup.sh

The script will:

• Detect your Linux distro and package manager
• Let you choose between Podman (recommended) or Docker
• Install all dependencies step-by-step with your confirmation
• Create the .env configuration file

After setup completes, skip to Step 4: Start the Simulation.

---

Option B: Manual Installation

1. Install Podman (one-time)

Ubuntu/Debian:

sudo apt update && sudo apt install -y podman podman-compose

Fedora:

sudo dnf install -y podman podman-compose

Arch:

sudo pacman -S podman podman-compose

Verify installation:

podman --version && podman-compose --version

2. Clone and Configure

git clone https://github.com/IESL-RoboGames/IESL-RoboGames-Uni-Phase1.git
cd IESL-RoboGames-Uni-Phase1

# Copy environment template and adjust paths if needed
cp .env.example .env

Open the .env file and update values if required (paths may vary depending on how Webots is installed).

For Snap installation:

WEBOTS_HOME=/snap/webots/current/usr/share/webots
WEBOTS_TMP_PATH=~/snap/webots/common/tmp/webots

For standard installation:

WEBOTS_HOME=/usr/local/webots
WEBOTS_TMP_PATH=/tmp/webots

Note: Check your display value with echo $DISPLAY and update if different.

export DISPLAY=:0   # add your value by executing `echo $DISPLAY`

3. Set Up Python Environment (one-time)

python3 -m venv venv
source venv/bin/activate
pip install --upgrade pip
pip install -r requirements.txt

Step 4: Start the Simulation

./start.sh

This script automatically:

• Detects and uses Podman or Docker
• Starts the simulation containers
• Opens the MAVProxy GUI in your browser (via noVNC)

Step 5: Run the Simulation

1. Open Webots and load the world:

   webots Webots/worlds/iris_Task_2.wbt

   Press ▶ (Play) to start

2. Run the flight script (in a new terminal): Run your solution (if you are using python, ensure it is implemented at ./Task/flight.py).

   python3 Task/flight.py

Step 6: Stop the Simulation

./stop.sh

---

Alternative: Using Docker

If you prefer Docker over Podman:

1. Install Docker: Official Docker Installation

2. Add yourself to the docker group:

   sudo usermod -aG docker $USER && newgrp docker

3. Use Docker Compose:

   docker compose up -d --build   # Start
   docker compose down            # Stop

---

Quick Test

Verify SITL is running:

python -c "from pymavlink import mavutil; m = mavutil.mavlink_connection('tcp:localhost:5760'); m.wait_heartbeat(); print('✅ SITL connected!')"

---

Architecture

Component	Description
Host	Runs Webots simulator
webots-controller	Bridges Webots ↔ ArduPilot
ardupilot-sitl	ArduPilot SITL simulation

Ports

Port	Service
6080	noVNC web interface (MAVProxy GUI)
5599	Camera stream
5760	MAVLink primary
5762-5763	MAVLink secondary/tertiary
14550-14551	MAVLink UDP (GCS)

---

Connecting from Code

PyMAVLink

from pymavlink import mavutil

master = mavutil.mavlink_connection('tcp:localhost:5760')
master.wait_heartbeat()
print("Connected to ArduPilot SITL")

DroneKit

from dronekit import connect

vehicle = connect('tcp:localhost:5760', wait_ready=True)
print(f"Connected: {vehicle.version}")

for further details

---

Advanced Usage

Click to expand

View Logs

podman-compose logs -f              # All services
podman-compose logs -f ardupilot-sitl   # Specific service

Restart Services

podman-compose restart webots-controller
podman-compose restart ardupilot-sitl

Start Services Separately

podman-compose up -d ardupilot-sitl     # SITL only
podman-compose up -d webots-controller  # Controller only

Rebuild Containers

podman-compose build --no-cache

---

Troubleshooting

Quick fixes:

• Connection refused? → Wait for SITL to fully initialize (~30 seconds)
• Webots not finding controller? → Check .env paths match your installation