/FIRA-Air-Simulator

FIRA-Air-Simulator

Primary LanguageC++Apache License 2.0Apache-2.0

FIRA-Air-Simulator

FIRA Air Simulator

Changelog

Update 1.1.1

  • Fixed the color of the frame for the gates (Changed to magenta)
  • Modified track Blender file
  • Fixed track Blender file (Missing DNA Block)
  • Modified the main league scene lighting
  • Modified run.sh bash file

Update 1.1.0

  • Added main league track Collada file
  • Added main league track Blender source file
  • Added main league world file
  • Added main league launch file

Update 1.0.2

  • Fixed rotating_link motion (Changed to Constant speed)
  • Fixed the slight movement of gate on the scene
  • Removed the "H" tag next to the gate
  • Fixed launch errors and robot spawn errors (Please make sure to run rosrun fira_challenge_env model_update.py)
  • Added bash file "run.sh" to run the simulator
  • Added Model updater to fix the static paths in the world files
  • Updated gate physical parameters

Tested Minimum Local Hardware Requirements

CPU: Intel® Core™ i5-5257U CPU @ 2.70GHz
GPU: Intel® Iris 6100
RAM: 8 GB

Software Requirements

Ubuntu 20.04 and ROS Noetic used exclusively. Other versions are not officially supported. Prior to installing our software make sure to have ROS and Catkin tools installed: http://wiki.ros.org/noetic/Installation/Ubuntu

sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
sudo apt-get install python3-catkin-tools
sudo apt install python3-wstool
sudo apt install ros-noetic-ros-control
pip3 install catkin_pkg

Installation

# Setup catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin init
# Add workspace to bashrc.
echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc
cd src
git clone https://github.com/FIRAAir/FIRA-Air-Simulator.git
cd ..
catkin_make
source ~/.bashrc

# Make sure to run the following line to update static paths (Important) 
rosrun fira_challenge_env model_update.py

The installation process is done.

Usage (Updated)

roscd fira_challenge_env
cd script
./run.sh

The drone can be controlled through the /cmd_vel topic using a Twist type message. teleop_keyboard_twist can also be used to controll the drone using keyboard.