Package Summary

Tags No category tags.
Version 1.0.0
License BDS-3
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/aerostack2/aerostack2.git
VCS Type git
VCS Version main
Last Updated 2024-05-13
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Lightweight simulator

Additional Links

No additional links.

Maintainers

  • CVAR-UPM

Authors

  • Rafael Perez-Segui

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
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

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Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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