MRSL Quadrotor Simulator
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 theurdf
and 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
Requirements
ros
(indigo+)gazebo
(2.2+)gazebo_ros
(2.2+)quadrotor_control
KumarRobotics
List of Components
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 |
Test Example
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
Dragon DDK:
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_control
KumarRobotics
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
Falcon4:
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 beam, 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 mav_name:=falcon4_os1
roslaunch mrsl_quadrotor_launch falcon4_os1_control.launch mav_type:=falcon4_os1 mav_name:=falcon4_os1 odom_topic:=ground_truth/odom
rosrun rqt_mav_manager rqt_mav_manager
Samples
hummingbird | hummingbird_rgbd | pelican_laser_rgbd | Falcon4_OS1 | mobile object |
---|---|---|---|---|
![]() |
![]() |
![]() |
![]() |
![]() |
levine | pillars | D60 | forest |
---|---|---|---|
![]() |
![]() |
![]() |
![]() |