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)
- 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
- source the workspace
source /opt/ros/humble/setup.bash
- build the raptor package by running:
colcon build
- change your directory to PX4-Autopilot
cd PX4-Autopilot
- source the raptor package with the following commmand
. ../install/local_setup.bash
- 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