/d2dtracker_sim

ROS 2 simulation packge of the D2DTracker system

Primary LanguagePythonMIT LicenseMIT

d2dtracker_sim

ROS 2 simulation packge of the D2DTracker system

Dependencies

  • ROS 2 humble + Gazebo garden
  • PX4 Atuopilot

Installation

The simulation deveopment environment is available in a self-contained docker image. First follow the instructions at d2dtracker_sim_docker

Run

  • Combile the workspace using colcon build

  • Source the workspace source install/setup.bash

  • In the 1st terminal, run the interceptor simulation

    ros2 launch d2dtracker_sim interceptor.launch.py

    You should see one quadcopter in Gazebo

  • In 2nd terminal, run the target simulation

    ros2 launch d2dtracker_sim target.launch.py

    You should see a second quadcopter spawned in Gazebo

  • In 4th terminal, check the available ros topics

    ros2 topic list
  • In a new terminal, you can check the tf tree using

    ros2 run rqt_tf_tree rqt_tf_tree

References