d2dtracker_sim

ROS 2 simulation packge of the D2DTracker system

Dependencies

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

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
```