/rotors_simulator

ROS 2 version of the RotorS Simulator

Primary LanguageC++

Rotors 2

RotorS 2 is the ROS 2 version of the Rotor S MAV gazebo simulator by Autonomous Systems Lab @ ETH Zürich . It provides multirotor model such as Swift Pico (developed by eYantra, IIT Bombay). There is a simulated generic odometry sensor. This package also contains a basic warehouse world and launch files for the simulation.

Prerequisites

  • Ubuntu 22.04 LTS
  • ROS2 Humble
  • Gazebo Fortress

Installation Instructions

  • Create a ROS 2 workspace rotors_ws and clone into the src folder inside it.
mkdir ~/rotors_ws
cd rotors_ws
git clone -b rotors2 https://github.com/arunser/rotors_simulator.git src
cd src
git clone -b ros2 https://github.com/arunser/mav_comm.git
  • Build the packages using colcon.
cd rotors_ws
colcon build
source install/setup.bash

  • To launch the Swift Pico drone in a basic world in Gazebo Fortress, use the following commands:

    • Set the GZ_SIM_RESOURCE_PATH environment variable to include the path to the rotors_swift_description/models directory.
    export GZ_SIM_RESOURCE_PATH="path_to/rotors_swift_description/models
    • To launch the Gazebo simulation for Swift Pico.
    ros2 launch rotors_swift_gazebo swift_pico_simulation.launch.py