Package of Gazebo quadrotor simulator. Latest version works for Gazebo > 7.0. User can easily set up the simulation environments and the quadrotor platform using sensors provided in this package.
Stacks include:
mrsl_models: all the CAD modelsmrsl_quadrotor_description: all theurdfand world config filesmrsl_quadrotor_launch: example launch filesmrsl_quadrotor_simulator: quadrotor dynamics simulatormrsl_quadrotor_utils: ros utilsmrsl_mobile_object: gazebo mobile obtacle pluginvelodyne_simulator: gazebo velodyne plugin Check each package for more details.
Requirements
ros(indigo+)gazebo(2.2+)gazebo_ros(2.2+)quadrotor_controlKumarRobotics
| Robot Frame | Sensor | World | Platform Examples |
|---|---|---|---|
| Hummingbird | empty | empty | hummingbird |
| Pelican | empty | empty | pelican |
| hokuyo | levine | pelican_laser | |
| FLA Platform | stereo | skir | pelican_laser_rgbd |
| hokuyo | wg | pelican_laser_rotate | |
| velodyne | pillars | pelican_rgbd | |
| laser_beam | D60 | pelican_velodyne |
Using the example launch file in the repo
roslaunch mrsl_quadrotor_launch gazebo.launch world:=levine
roslaunch mrsl_quadrotor_launch spawn.launch mav_type:=pelican mav_name:=juliett
Sensors: Downward facing camera, stereo, rgbd, imu.
Dependency: Clone and compile https://github.com/ATLFlight/qflight_descriptions
Note: The controller launch file depends on quadrotor_control package which will be soon released (currently closed source)
quadrotor_controlKumarRobotics
roslaunch mrsl_quadrotor_launch gazebo.launch world:=empty
roslaunch mrsl_quadrotor_launch spawn.launch mav_type:=dragon_ddk mav_name:=ddk
roslaunch mrsl_quadrotor_launch controller.launch mav_type:=dragon_ddk mav_name:=ddk mass:=0.25 odom_topic:=ground_truth/odom
rosrun rqt_mav_manager rqt_mav_manager
Simulating the Ouster OS1 64 beam lidar requires using a fork of the ouster_example code and installing the hector gazebo plugins
sudo apt install ros-melodic-hector-gazebo-plugins
a. Sensor: OVC3, Two OVC3 side Cams, downward facing Lidar
roslaunch mrsl_quadrotor_launch gazebo.launch world:=forest2
roslaunch mrsl_quadrotor_launch spawn.launch mav_type:=falcon4 mav_name:=falcon4
roslaunch mrsl_quadrotor_launch falcon4_control.launch mav_type:=falcon4 mav_name:=falcon4 odom_topic:=ground_truth/odom
rosrun rqt_mav_manager rqt_mav_manager
b. Sensor: Ouster OS1 64 x 512, OVC3, Two OVC3 side Cams, downward facing Lidar
roslaunch mrsl_quadrotor_launch gazebo.launch world:=forest2
roslaunch mrsl_quadrotor_launch spawn.launch mav_type:=falcon4_os1_64_512 mav_name:=falcon4_os1
roslaunch mrsl_quadrotor_launch falcon4_os1_control.launch mav_type:=falcon4_os1_64_512 mav_name:=falcon4_os1 odom_topic:=ground_truth/odom
rosrun rqt_mav_manager rqt_mav_manager
c. Sensor: Ouster OS1 16 x 256, OVC3, Two OVC3 side Cams, downward facing Lidar
roslaunch mrsl_quadrotor_launch gazebo.launch world:=forest2
roslaunch mrsl_quadrotor_launch spawn.launch mav_type:=falcon4_os1_16_256 mav_name:=falcon4_os1
roslaunch mrsl_quadrotor_launch falcon4_os1_control.launch mav_type:=falcon4_os1_16_256 mav_name:=falcon4_os1 odom_topic:=ground_truth/odom
rosrun rqt_mav_manager rqt_mav_manager
| hummingbird | hummingbird_rgbd | pelican_laser_rgbd | Falcon4_OS1 | mobile object |
|---|---|---|---|---|
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| levine | pillars | D60 | forest |
|---|---|---|---|
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