/mrsl_quadrotor

Primary LanguageC++BSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

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 models
  • mrsl_quadrotor_description: all the urdf and world config files
  • mrsl_quadrotor_launch: example launch files
  • mrsl_quadrotor_simulator: quadrotor dynamics simulator
  • mrsl_quadrotor_utils: ros utils
  • mrsl_mobile_object: gazebo mobile obtacle plugin
  • velodyne_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 rgbd empty pelican
Pelican camera 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

$cd ./mrsl_quadrotor_launch/launch
$roslaunch gazebo.launch world:=levine
$roslaunch spawn.launch robot_type:=pelican

Samples

hummingbird hummingbird_rgbd pelican_laser_rgbd mobile object
levine pillars D60