This is the custom simulator for RAPTOR using PX4 gazebo SITL.

clone repository

git clone --recursive https://github.com/aurelappius/PX4-Autopilot

install dependencies by running

sudo ./Tools/setup/ubuntu.sh

also install ROS2 humble. see: https://docs.ros.org/en/humble/Installation.html)

1. Set up your workspace the following way by cloning raptor: https://github.com/raptor-ethz/raptor.git and this repository in the following file structure:

simulator
├── raptor
└── PX4-Autopilot

2. source the workspace

source /opt/ros/humble/setup.bash

3. build the raptor package by running:

colcon build

4. change your directory to PX4-Autopilot

cd PX4-Autopilot

5. source the raptor package with the following commmand

. ../install/local_setup.bash

6. run the simulator

make px4_sitl gazebo_raptor__baylands

the first (here raptor) is the model that is loaded and the second (here baylands) is the world.

##Modify the model.

All parameters of the model can be modified in the file:

Tools/simulation/gazebo/sitl_
gazebo/models/raptor/raptor.sdf

##ROS2 Publishers/Subscribers

The current model publishes the following topics and message types:

/realsense_down_d /realsense_down_ir1 /realsense_down_ir2 /realsense_down_rgb /realsense_front_d /realsense_front_ir1 /realsense_front_ir2 /realsense_front_rgb

sensor_msgs::msg::Image realsense_down_rgb
sensor_msgs::msg::Image realsense_down_ir1
sensor_msgs::msg::Image realsense_down_ir2
sensor_msgs::msg::Image realsense_down_d

sensor_msgs::msg::Image realsense_front_rgb
sensor_msgs::msg::Image realsense_front_ir1
sensor_msgs::msg::Image realsense_front_ir2
sensor_msgs::msg::Image realsense_front_d

and subscribes to the following

std_msgs::msg::Float64 leftGripper_deg
std_msgs::msg::Float64 rightGripper_deg