This repo will allow you to control a quadcopter in VREP through ROS in Python. The current project is using /quad_cmd_twist that can be controlled with your keyboard. The current scenario allows the user to roll, pitch and yaw. However, takeoff and land has not been implemented.
- ROS Kinetic on Ubuntu 16.04 LTS
- VREP 3.2.2
- 'ros' plugin loaded in VREP. If for some reason, you do not see 'ros' plugin when you start vrep or get 'ros' load failed error then follow this tutorial: https://www.youtube.com/watch?v=3Ml0N8-iCwU
- rospy
- rospkg
- To run the program, first run
roscorein one terminal and./vrep.shin another terminal. If you see 'ros' plugin succeeded then move to step 2. - Start the simulation.
- In another terminal, run
./main.pyorpython main.py - To control the drone, press w, a, s, d, q, e keys on the keyboard.
- To stop publishing, press X. This will stop all current nodes.
MIT