as2_gazebo_assets

Colletion of AS2 Gazebo assets and launching scripts.

Tested on Gazebo Fortress. Make sure to have it installed.

Gazebo naming has changed between ROS2 Galactic and ROS2 Humble releases (Gazeno new era). You should use as2_gazebo_assets package version corresponding to your ROS2 version.

INDEX

• INDEX
• RESOURCES
  • DRONE MODELS
  • SENSOR MODELS
  • WORLD MODELS
• HOW TO RUN: Basic usage
  • OPTIONS
  • CONFIG FILE

• EXAMPLES

RESOURCES

There are distinguish three kinds of reources: drone, sensor and world models.

DRONE MODELS

SENSOR MODELS

WORLD MODELS

HOW TO RUN: Basic usage

Previously setting AS2 environment, simply run:

ros2 launch as2_gazebo_assets launch_simulation.py config_file:=<config-file>

This will run for you ign gazebo server, spawn all models from your config file and open ign gazebo client (GUI).

OPTIONS

• config_file: Launch config file (JSON or YAML format).

• gui_config_file: GUI config file. (default: ‘’)

• use_sim_time: Deactivates clock bridge and object publishes tf in sys clock time. Valid choices are: [‘true’, ‘false’] (default: ‘true’)

• headless: Launch in headless mode (only ign server). Valid choices are: [‘true’, ‘false’] (default: ‘false’)

• verbose: Launch in verbose mode. Valid choices are: [‘true’, ‘false’] (default: ‘false’)

• run_on_start: Run simulation on start. Valid choices are: [‘true’, ‘false’] (default: ‘true’)

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Changelog for package as2_gazebo_assets

1.1.2 (2024-08-22)

1.1.1 (2024-08-20)

1.1.0 (2024-08-08)

• [as2_gazebo_assets] Improve crazyflie model: controller tuned and added IMU
• [as2_gazebo_assets] Added crazyflie viz MODEL
• [as2_gazebo_assets] Updated Crazyflie Gazebo model
• [as2_gazebo_assets] Add optical frames to cameras
• [as2_gazebo_assets] Fix for flake8.
• [as2_gazebo_assets] Fix model templates for sensor naming
• [as2_gazebo_assets] Support yaml files for gazebo world configuration
• [as2_gazebo_assets] Fix malformed bridges
• [as2_gazebo_assets] ament lint auto compliance
• [as2_gazebo_assets] Continue using Pydantic V1
• [as2_gazebo_assets] environment variable IGN_GAZEBO_RESOURCE_PATH changed to GZ_SIM_RESOURCE_PATH
• [as2_gazebo_assets] Add actuators bridge
• [as2_gazebo_assets] Add Gazebo Harmonic launcher by env variable GZ_VERSION
• [as2_gazebo_assets] Add actuators bridge and disable velocity controller with a param
• [as2_gazebo_assets] Fix gimbal_bridge on Gazebo Harmonic
• [as2_gazebo_assets] Gz harmonic support
• [as2_gazebo_assets] Sensor model name and sensor link name were swapped in camera bridges
• Contributors: Javilinos, Miguel Fernandez-Cortizas, Rafael Perez-Segui, keikei014, pariaspe

1.0.9 (2024-03-25)

• added local frame to simulated gimbal msg
• Partial fix on Crazyflie Model
• Point gimbal working and Gimbal Inertial links enabling to fly
• Nested sdf model for gimbal and fixed TF tree
• Contributors: Javier Melero, Javilinos, Mickey Li, Miguel Fernandez-Cortizas, Rafael Pérez, pariaspe

1.0.8 (2024-02-12)

1.0.7 (2024-02-04)

• Gimbal model added
• Cleaning remaining ign, bridges use gz instead ign
• [as2_gazebo_assets] Renamed to as2_gazebo_assets
• Contributors: Javilinos, Rafael Pérez, pariaspe

1.0.6 (2023-12-12)

1.0.5 (2023-11-08)

• Spawn objects from gz resource path
• Hexrotor back to fly
• Contributors: Javilinos, pariaspe

1.0.4 (2023-08-23)

1.0.3 (2023-08-22)

1.0.2 (2023-08-17)

• Merge pull request #314 from aerostack2/313-payload-bridges-missing Payload bridges fix
• fixes issue 313: payload bridges
• Merge pull request #306 from aerostack2/as2_viz Added drone_viz sdf
• added drone_viz sdf
• Merge pull request #305 from aerostack2/300-add_sim_time_to_gps_bridge use_sim_time now works in gps bridge
• use sim time now works in gps bridge
• added grass world
• Merge pull request #295 from aerostack2/290-add_gps_origin_from_json_file add gps origin from json file
• now assets can be loaded from other directory
• jinja always used, if it doesn't exist, sdf is used
• add gps origin from json file
• Merge pull request #286 from aerostack2/285-fix_python_list_type Changed typing list to List
• changed list to List
• Merge pull request #278 from aerostack2/229-as2_simulation_assets-earth-needs-to-be-alligned-in-enu-frame Change 0 deg reference from North to East
• Change 0 deg reference from North to East
• Merge pull request #266 from aerostack2/add_position_plugin_to_gates added position plugin to gates

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