/tum_simulator

ROS indigo compatible tum_simulator

Primary LanguageC++

tum_simulator on Indigo

These packages are used to simulate the flying robot Ardrone in ROS environment using gazebo simulator. Totally they are 4 packages. Their functions are descript as below:

  1. cvg_sim_gazebo: contains object models, sensor models, quadrocopter models, flying environment information and individual launch files for each objects and pure environment without any other objects.

  2. cvg_sim_gazebo_plugins: contains gazebo plugins for the quadrocopter model. quadrotor_simple_controller is used to control the robot motion and deliver navigation information, such as: /ardrone/navdata. Others are plugins for sensors in the quadrocopter, such as: IMU sensor, sonar sensor, GPS sensor.

  3. message_to_tf: is a package used to create a ros node, which transfers the ros topic /ground_truth/state to a /tf topic.

  4. cvg_sim_msgs: contains message forms for the simulator.

Some packages are based on the tu-darmstadt-ros-pkg by Stefan Kohlbrecher, TU Darmstadt.

How to install the simulator:

  1. Create a workspace for the simulator

    mkdir -p ~/tum_simulator_ws/src
    cd  ~/tum_simulator_ws/src
    catkin_init_workspace
    
  2. Download dependencies

    git clone https://github.com/AutonomyLab/ardrone_autonomy.git	# The AR.Drone ROS driver
    git clone https://github.com/occomco/tum_simulator.git
    cd ..
    rosdep install --from-paths src --ignore-src --rosdistro indigo -y
    
  3. Build the simulator

    catkin_make
    
  4. Source the environment

    source devel/setup.bash
    

How to run a simulation:

  1. Run a simulation by executing a launch file in cvg_sim_gazebo package:

    roslaunch cvg_sim_gazebo ardrone_testworld.launch