Simulate GPS failure

This page describes how to run the SITL simulation with GISNav running on a companion computer (e.g. NVIDIA Jetson Nano).

Prerequisites

Simulation host

• Install the GISNav CLI via the Debian package.

Companion computer

• Install the GISNav CLI via the Debian package.

Connectivity & networking

• You need the ssh server enabled on your companion computer. Include your own ssh public key in the ~/.ssh/authorized_keys file on the companion computer to ensure you can ssh in.

• These instructions assume you are using the hostname jetsonnano and that your network stack supports mDNS (.local domain). You can edit your companion computer hostname by editing the /etc/hostname file.

• Your simulation host and companion computer must be on the same local network. You can e.g. connect them directly with an Ethernet cable. You should share internet connection to your companion computer if you connect directly via Ethernet cable and not e.g. via a router.

Build and start SITL simulation

Prepare the containers for the SITL simulation environment by running the following command on your simulation host.

GISNAV_COMPANION_HOST=jetsonnano.local gnc create --build px4 gisnav@jetsonnano.local

Start your simulation:

Slow Gazebo startup on first run

Gazebo in the px4 container will download some models on first startup which may take several minutes with slower internet. You may not see the Gazebo GUI pop up until after the models are downloaded.

gnc start px4 gisnav@jetsonnano.local