cd ~/ros2_ws
source /opt/ros/humble/setup.bash
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r

Warning: Have JAVA Installed

git clone --recurse-submodules https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git
cd Micro-XRCE-DDS-Gen
./gradlew assemble

In home directory:

cd ~
sudo apt install git
git clone https://github.com/ArduPilot/ardupilot.git
cd ardupilot
git checkout Copter-3.6
git submodule update --init --recursive

sudo apt install python-matplotlib python-serial python-wxgtk3.0 python-wxtools python-lxml python-scipy python-opencv ccache gawk python-pip python-pexpect

sudo pip install future pymavlink MAVProxy

Add these lines to end of ~/.bashrc/~/.zsshrc (the file open in the text editor):

export PATH=$PATH:$HOME/ardupilot/Tools/autotest
export PATH=/usr/lib/ccache:$PATH

To install ArduPilot, you'll need to follow these steps:

1. Install required dependencies:

   sudo apt install libgz-sim8-dev rapidjson-dev

2. Set up Gazebo workspace:

   mkdir -p gz_ws/src && cd gz_ws/src
   git clone https://github.com/ArduPilot/ardupilot_gazebo

3. Build ArduPilot Gazebo plugin:

   export GZ_VERSION=harmonic
   cd ardupilot_gazebo
   mkdir build && cd build
   cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
   make -j4

For ArduPilot to work correctly, it requires python to be available at /usr/bin/env. You can create a symbolic link for this purpose:

ln -s /usr/bin/python3 /usr/bin/python

This command creates a soft link named python pointing to /usr/bin/python3. This version breaks down the ArduPilot installation process into clear steps and provides a more structured approach to the instructions. Additionally, it explains the purpose of creating the symbolic link for ArduPilot.

source ~/ros2_ws/install/setup.bash
# See the node appear in the ROS graph
ros2 node list
# See which topics are exposed by the node
ros2 node info /ardupilot_dds
# Echo a topic published from ArduPilot
ros2 topic echo /ap/geopose/filtered

mavproxy.py --console --map --aircraft test --master=:14550