as2_platform_multirotor_simulator

Aerostack2 lightweight simulator for multirotor drones, based on multirotor_simulator.

API

For documentation, use Doxygen. The documentation files have to be built locally:

1. Install doxygen:

    sudo apt install doxygen
    

1. Run doxygen in the root folder as2_platform_multirotor_simulator/ by:

    doxygen Doxyfile
    

1. Open the documentation in by opening as2_platform_multirotor_simulator/doxygen/html/index.html

Building the package

Go to the root folder of the workspace and run:

colcon build --packages-select as2_platform_multirotor_simulator

Running colcon test

Run colcon test in by:

colcon test --packages-select as2_platform_multirotor_simulator

Optional, add verbosity with --event-handlers console_direct+

Launching the simulator

Configuration files are located in as2_platform_multirotor_simulator/config/:

• control_modes.yaml: available input control modes for the aerostack2 aerial platform.
• platform_config_file.yaml: ROS 2 configuration, with tf names, frequencies and aerostack2 parameters.
• simulation_config.yaml: simulation configuration, with frequency and environment parameters.
• uav_configuav_config.yaml: UAV configuration, with the drone’s physical parameters and controller configuration.
• world_config.yaml: world configuration, as parameters override for each drone namespace in the configuration file.

Launcher parameters order

1. Default configuration file in as2_platform_multirotor_simulator/config/ folder.
2. Custom configuration file in the launch command (e.g. platform_config_file:=path/to/file.yaml).
3. Custom parameters in the launch command (e.g. frequency:=100).
4. Custom world configuration in the launch command (e.g. world_config:=path/to/file.yaml), for the world launcher.

Examples:

ros2 launch as2_platform_multirotor_simulator as2_platform_multirotor_simulator.launch.py namespace:=drone0

ros2 launch as2_platform_multirotor_simulator as2_platform_multirotor_simulator_world.launch.launch.py namespace:=drone0 world_config:=config/world_config.yaml

References

M. Fernandez-Cortizas, M. Molina, P. Arias-Perez, R. Perez-Segui, D. Perez-Saura, and P. Campoy, 2023, “Aerostack2: A software framework for developing multi-robot aerial systems”, ArXiv DOI 2303.18237.

Changelog for package as2_platform_multirotor_simulator

1.1.3 (2025-07-23)

• [as2_platform_multirotor_simulator] Fix imu read
• [as2_platform_multirotor_simulator] Use as2 interface to convert commands and states
• [as2_platform_multirotor_simulator] Fix as2_platform_multirotor_simulator ground thrust twist frame
• [aerostack2] Use as2::spingLoop without preset_loop_frequency
• [aerostack2] Convert trajectory references into an array of references
• [aerostack2] Maintainer and license tags update
• Contributors: Rafael Pérez, pariaspe

1.1.2 (2024-08-22)

1.1.1 (2024-08-20)

1.1.0 (2024-08-08)

• [as2_platform_multirotor_simulator] Enable control using odometry as state instead of ground truth
• [as2_platform_multirotor_simulator] Update platform to use world.yaml and rename some params
• [as2_platform_multirotor_simulator] New launch utils to declare parameters from a config file, update launchers at multirotor simulation
• [as2_platform_multirotor_simulator] Change gtest to use as2 core mock
• [as2_platform_multirotor_simulator] Add basic fly gtest
• [as2_platform_multirotor_simulator] Add ament_cmake_gtest to package.xml
• [as2_platform_multirotor_simulator] Remove LICENCE and CONTRIBUTING to use the ones in the aerostack2
• [as2_platform_multirotor_simulator] Update launchers to Flake8
• [as2_multirotor_simulator] Add as2_multirotor_simulator package
• Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, keikei014

1.0.9 (2024-03-25)

1.0.8 (2024-02-12)

1.0.7 (2024-02-04)

1.0.6 (2023-12-12)

1.0.5 (2023-11-08)

1.0.4 (2023-08-23)

1.0.3 (2023-08-22)

1.0.2 (2023-08-17)

1.0.1 (2023-04-25)

1.0.0 (2023-03-18)

0.2.2 (2022-12-22)

0.2.1 (2022-12-19)