Book - Running a simulation:

elpiel · elpiel · commit baa99cfe706f · 2022-08-23T09:08:59.000+03:00
- add QGroundControl setup
- gzclient connection to docker
- mention why `protoc` installation is required
diff --git a/README.md b/README.md
@@ -95,13 +95,6 @@ Gazebo doesn't yet have built-in support for ArduPilot and it requires a plugin
 
 - https://ardupilot.org/dev/docs/using-gazebo-simulator-with-sitl.html
 
-Connecting to remote gazebo server:
-
-https://answers.gazebosim.org/question/7117/running-gzserver-on-ec2-and-gzclient-locally-is-not-working/?answer=7172#post-id-7172
-
-```sh
-GAZEBO_IP=172.23.3.104 GAZEBO_MASTER_URI=172.23.1.170:12345 gzclient
-```
 #### MAVLink
 
 - MAVLink basics: https://ardupilot.org/dev/docs/mavlink-basics.html#mavlink-basics
diff --git a/drone-book/README.md b/drone-book/README.md
@@ -1,4 +1,9 @@
 # The Rust book for Drones
 ## by the AeroRust community
 
-TODO: who this book is intended for? What will people find in this book? What will they learn?
+
+
+## TODO:
+1. Who this book is intended for?
+2. What will people find in this book
+3. What will they learn?
diff --git a/drone-book/images/QGroundControl_Docker.png b/drone-book/images/QGroundControl_Docker.png
diff --git a/drone-book/running_a_simulation.md b/drone-book/running_a_simulation.md
@@ -13,7 +13,8 @@ Operating system: Linux / MacOS(?)
 - Rust for `cargo run` (Install the [Rust][install-rust] programming language)
 - Git
 - `ssh` key set on your GitHub profile, see [Connecting to GitHub with SSH][github-ssh]
-- QGroundControl (optional)
+- [QGroundControl (optional)](#qgroundcontrol-docker)
+- `protoc` for running the `mav-sdk` build script when using the examples, see [Protocol Compiler Installation][install-protoc]. Since `prost` version `0.11`, `protoc` is no longer automatically installed on the host machine.
 
 1. `git clone git@github.com:AeroRust/mav.git && cd mav`
 
@@ -39,8 +40,39 @@ For the time being, however, all you need to know is that this is how we simulat
 cargo run -p mav-sdk --example takeoff
 ```
 
+### QGroundControl Docker
+
+> QGroundControl provides full flight control and mission planning for any MAVLink enabled drone. Its primary goal is ease of use for professional users and developers. All the code is open-source source, so you can contribute and evolve it as you want.
+- _[qgroundcontrol.com][qgroundcontrol]_
+
+In order to connect to the PX4 running inside Docker, use this setup:
+
+![The setup required to connect QGroundControl to the MAVLink running in Docker](images/QGroundControl_Docker.png)
+
+### Connecting Gazebo GUI (client) to Gazebo server (in Docker)
+
+The `Gazebo` simulation tool usually runs a server and a GUI on the host machine,
+however, our setup is running in `Docker` with mode `headless` for `Gazebo`,
+so we only have the server running in `Docker`.
+
+**IMPORTANT:** You must have installed the exact same `Gazebo` version locally as the one found in the Docker setup, otherwise you won't be able to connect
+
+On Linux:
+
+```bash
+source /usr/share/gazebo-11/setup.sh && \
+gzclient --verbose
+```
+
+`/usr/share/gazebo-11/setup.sh` contains a few default environment variables that you don't need to pass, otherwise use:
+
+```
+GAZEBO_MASTER_URI=127.0.0.1:11345 gzclient --verbose
+```
 
 [install-rust]: https://rustup.rs/
+[install-protoc]: https://github.com/protocolbuffers/protobuf#protocol-compiler-installation
 [install-docker]: https://docs.docker.com/engine/install/
 [install-docker-compose]: https://docs.docker.com/compose/install/
-[github-ssh]: https://docs.github.com/en/authentication/connecting-to-github-with-ssh
+[github-ssh]: https://docs.github.com/en/authentication/connecting-to-github-with-ssh
+[qgroundcontrol]: http://qgroundcontrol.com
