Prerequisites

Before you begin, please ensure your development environment meets the following requirements.

System Requirements

Environment / Component	Version or Info
Operating System	Ubuntu 22.04 LTS
ROS 2 Version	Humble Hawksbill
Gazebo Sim Version	Harmonic V8.11.0
Ros-GZ Bridge Version	ros-humble-ros-gz-harmonic
PX4 Version	V1.17.0
QGC Version	Download Link

Recommended Hardware

Component	Minimum	Recommended
CPU	4 cores	8 cores+
Memory	8 GB	16 GB+
GPU	Integrated GPU	NVIDIA GPU (CUDA support)
Disk	50 GB available space	100 GB SSD

Software Dependencies

System Packages

sudo apt update
sudo apt install -y \
  cmake \
  build-essential \
  git \
  wget \
  python3 \
  python3-pip \
  ninja-build \
  ccache

ROS 2 Humble

# Install ROS 2 Humble Desktop Full
sudo apt install ros-humble-desktop-full
source /opt/ros/humble/setup.bash

Gazebo Harmonic

# Install Gazebo Harmonic and ros-gz bridge
sudo apt install -y \
  gazebo11 \
  ros-humble-ros-gz-harmonic

Python Dependencies

pip install \
  mkdocs-material \
  mkdocs-awesome-pages-plugin \
  mkdocs-mermaid2-plugin

Docker Method (Recommended)

For most users, the Docker method is recommended to get a complete environment:

# Build Docker image
bash docker/run_gz_sitl.sh --build

# Launch
bash docker/run_gz_sitl.sh --profile "Entity 1"

The Docker image comes with all necessary dependencies pre-installed, including ROS 2 Humble, Gazebo Harmonic, PX4 build tools, and custom plugins.