1.1 Prerequisites and Setup¶

What You'll Learn¶

Before diving into drone simulation, we'll make sure you have:

The right computer (hardware specifications)
The right software (Ubuntu 22.04)
Understanding of time commitment
Proper expectations for the journey ahead

This ensures a smooth learning experience without technical roadblocks.

Time: 15-20 minutes reading + setup time (if needed)

Hardware Requirements¶

Minimum Requirements¶

Your computer needs at least:

Component	Minimum	Recommended	Why?
OS	Ubuntu 22.04	Ubuntu 22.04 native	ArduPilot SITL runs on Linux
CPU	4 cores, 2.0 GHz	8 cores, 3.0 GHz+	Gazebo simulation is CPU-intensive
RAM	8 GB	16 GB+	Gazebo + ROS2 + SITL use memory
Storage	30 GB free	50 GB+ free	ArduPilot, ROS2, Gazebo, logs
GPU	Integrated graphics	Dedicated GPU	Better Gazebo visualization
Internet	Stable connection	High-speed	Downloading packages

Can I Use Windows or macOS?¶

Short answer: Use Ubuntu 22.04 (VM, dual-boot, or native).

Why Ubuntu 22.04 specifically? - ArduPilot officially supports Ubuntu - ROS2 Humble targets Ubuntu 22.04 LTS - All our instructions tested on this version - Strongest community support

Don't have Ubuntu 22.04? See Appendix: Ubuntu Installation for detailed setup guides (VM, dual-boot, or native).

Software Requirements¶

Operating System¶

Required: Ubuntu 22.04 LTS (Jammy Jellyfish)

Download: https://ubuntu.com/download/desktop

Why this specific version? - LTS (Long Term Support) — Stable, supported until 2027 - ROS2 Humble officially supports it - ArduPilot SITL tested and documented for it - This tutorial verified on this version

Important:

❌ Don't use Ubuntu 20.04 (ROS2 Foxy is end-of-life)
❌ Don't use Ubuntu 24.04 (too new, compatibility issues)
❌ Other Linux distros (different package managers, untested)

Need help installing Ubuntu? See Appendix: Ubuntu Installation for step-by-step guides.

Software We'll Install (Later Sections)¶

Don't install these now — we'll do it step-by-step together:

Phase 1 (Simulation): - ArduPilot SITL (Software In The Loop simulator) - MAVProxy (Command-line ground control) - Gazebo Harmonic (3D physics simulator)

Phase 2 (ROS2 Integration): - ROS2 Humble (Robot Operating System) - MAVROS (MAVLink ↔ ROS2 bridge) - RViz (ROS visualization tool)

Total download size: ~10-15 GB
Total disk space after install: ~25-30 GB

Time Commitment¶

Be realistic about time investment to avoid frustration:

Phase 1: Simulation (This Phase)¶

Estimated: 6-8 hours total

Spread over multiple sessions — don't rush! Understanding matters more than speed. Each section builds on previous ones.

Suggested pace: - Week 1: Sections 1.1-1.3 (environment + SITL) - Week 2: Sections 1.4-1.6 (control + Gazebo + missions)

Full Tutorial (All 4 Phases)¶

Estimated: 40-60 hours total

Phase 1: 6-8 hours (simulation)
Phase 2: 12-16 hours (ROS2 integration)
Phase 3: 8-12 hours (companion computer)
Phase 4: 12-16 hours (real hardware)

This assumes: - Following tutorials carefully - Doing all verification steps - Some troubleshooting time - Not including hardware assembly

Take your time. Quality learning beats speed.

Knowledge Prerequisites¶

What You DON'T Need to Know¶

You don't need prior experience with:

ROS or ROS2
ArduPilot or flight controllers
Drone building or flying
Advanced programming

We teach all of this from scratch.

What Helps (But Not Required)¶

Nice to have, but we'll teach as we go: - Basic Linux terminal commands (cd, ls, mkdir) - Basic Python reading (not writing complex code) - Understanding of 3D coordinates (x, y, z) - Patience and willingness to troubleshoot

Never used Linux terminal? That's okay! We explain every command.

Essential Mindset¶

What you DO need:

Patience to follow step-by-step instructions
Attention to detail (typos break things)
Willingness to read error messages (they tell you what's wrong)
Comfort with trial and error (part of learning)
Safety-first attitude (especially for Phase 4 with real hardware)

Approach: Treat this as a journey, not a race. Every expert was once a beginner.

Tools You'll Need¶

For Phase 1 (Now)¶

You need right now:

Computer meeting hardware requirements
Ubuntu 22.04 installed
Text editor (gedit, nano, or VS Code)
Terminal application (built into Ubuntu)
Stable internet connection

That's it for now! Everything else we'll install together in upcoming sections.

For Later Phases¶

Don't buy hardware yet! Complete Phases 1-2 in simulation first.

Phase 3 (Companion Computer): - Raspberry Pi 4 (4GB+ RAM recommended) - MicroSD card (32GB+) - USB cable or network connection

Phase 4 (Real Hardware): - Flight controller (Pixhawk/Cube Orange) - Drone frame and components - RC transmitter and receiver - Battery and charger - Safety equipment - Open outdoor space for testing

We'll provide detailed lists when you reach those phases.

✅ Verification Steps¶

Ubuntu Varification Output

Check Your Ubuntu Version¶

Open terminal (Ctrl+Alt+T) and run:

lsb_release -a

Expected output:

Distributor ID: Ubuntu
Description:    Ubuntu 22.04.x LTS
Release:        22.04
Codename:       jammy

✅ Success: Shows Ubuntu 22.04
❌ Wrong version: Install Ubuntu 22.04 before continuing

Check System Resources¶

Check RAM:

free -h

Look for: Mem: line shows total RAM
✅ Success: Shows 8GB or more
⚠️ Warning: Less than 8GB will be slow

Check CPU:

lscpu | grep -E "^CPU\(s\)|Model name"

✅ Success: Shows 4+ CPUs
⚠️ Warning: Fewer cores will be slower

Check Disk Space:

df -h /

Look for: / filesystem available space
✅ Success: 30GB+ available
❌ Insufficient: Free up space before continuing

Test Internet Connection¶

ping -c 4 google.com

Expected output: Shows response times (e.g., "time=15.2 ms")
✅ Success: Receives 4 packets
❌ Fail: Check your network connection

Pre-Flight Checklist¶

Before moving to next section, verify:

Ubuntu 22.04 LTS installed and running
System meets minimum requirements (8GB RAM, 4 cores, 30GB space)
Internet connection working
Comfortable opening terminal (Ctrl+Alt+T)
Realistic time expectations set
Ready to learn patiently

All checked? You're ready to proceed!

What You Accomplished¶

✅ Understood hardware and software requirements
✅ Confirmed Ubuntu 22.04 is installed (or know how to install it)
✅ Verified system meets requirements
✅ Set realistic expectations for journey ahead
✅ Prepared mindset for learning

Next Steps¶

Continue to 1.2 Environment Setup where we'll: - Update your system to latest packages - Install essential development tools - Configure your terminal (optional) - Setup your workspace directory structure - Prepare your system for ArduPilot SITL

Common Questions¶

Q: Can I use Ubuntu in WSL2 (Windows Subsystem for Linux)?¶

A: Not recommended. WSL2 has issues with: - USB device access (needed later for flight controller) - GUI applications (Gazebo, RViz need 3D graphics) - Real-time performance

Use VM or dual-boot instead.

Q: I have Ubuntu 20.04, do I need to upgrade?¶

A: Yes. ROS2 Foxy (for Ubuntu 20.04) reached end-of-life. This tutorial uses ROS2 Humble which requires Ubuntu 22.04.

Q: Can I use a more powerful computer for better performance?¶

A: Absolutely! More RAM and CPU cores = smoother Gazebo simulation and faster builds. Recommended specs will give you the best experience.

Q: Will this work on Ubuntu 24.04?¶

A: Not yet. Wait for ROS2 Jazzy to mature and ArduPilot to officially support it. Stick with Ubuntu 22.04 for now (LTS until 2027).

Q: I'm stuck on installation. Where can I get help?¶

A: 1. Check Appendix: Ubuntu Installation for detailed guides 2. Search Ubuntu installation guides: https://ubuntu.com/tutorials/install-ubuntu-desktop 3. Search our issues: https://github.com/simtofly/simtofly-guide/issues 4. Open new issue with your specific problem

Troubleshooting¶

Virtual Machine is Very Slow¶

Solutions: 1. Allocate more RAM (8GB → 12GB if host allows) 2. Allocate more CPU cores (2 → 4+ if available) 3. Enable 3D acceleration in VM settings 4. Close other applications on host machine 5. Consider dual-boot for better performance

Ubuntu Won't Boot After Dual-Boot Install¶

Solutions: 1. Check BIOS boot order (Ubuntu should be first) 2. Repair GRUB bootloader (search: "repair grub ubuntu") 3. If stuck, seek help on Ubuntu forums with your specific setup

System Requirements Not Met¶

Solutions: 1. Low RAM: Add more RAM to computer, or use lighter VM settings 2. Low disk space: Free up space, uninstall unused programs 3. Slow CPU: Be patient, or consider upgrading hardware 4. No dedicated GPU: Gazebo will work, just slower

← Back to Phase 1 Overview | Next: 1.2 Environment Setup →