ROS Resources: Documentation | Support | Discussion Forum | Service Status | ros @ Robotics Stack Exchange
ROS Index
  1. Home
  2. Repos
  3. clover
  4. clover_description
 

clover_description package from clover repo

aruco_pose clover clover_blocks clover_description clover_simulation roswww_static

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.21.3
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/CopterExpress/clover.git
VCS Type git
VCS Version melodic-devel
Last Updated 2021-05-26
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The clover_description package provides URDF models of the Clover series of quadcopters.

Additional Links

Maintainers

  • Alexey Rogachevskiy

Authors

  • Alexey Rogachevskiy
  • Andrey Ryabov
  • Arthur Golubtsov
  • Oleg Kalachev
  • Svyatoslav Zhuravlev
clover_description/README.md

clover_description ROS package

This package contains models and URDF descriptions for the Clover 4 drone. These descriptions can be used for Gazebo simulation environment.

Note that in order to use these descriptions in Gazebo, you need to use the plugins from PX4 sitl_gazebo package and clover_simulation package.

Usage

The descriptions are provided as xacro-enabled URDF files. A spawn_drone.launch file that spawns the model in a running Gazebo instance is also provided for convenience.

You may provide additional parameters for spawn_drone.launch as well:

  • main_camera (boolean, default: true) - controls whether the drone will have a downward-facing camera attached;
  • rangefinder (boolean, default: true) - controls whether the drone will have a downward-facing laser rangefinder attached;
  • led (boolean, default: true) - controls whether the drone will have a programmable LED strip (requires plugins from clover_simulation);
  • gps (boolean, default: true) - controls whether the drone will have a simulated GPS attached (requires plugins from sitl_gazebo);
  • maintain_camera_rate (boolean, default: false) - slow down the simultion to maintain camera publishing rate (internally changes the camera plugin from libgazebo_ros_camera.so to libthrottling_camera.so from clover_simulation).

For example, in order to spawn a drone without a GPS module, you may use the following command:

roslaunch clover_description spawn_drone.launch gps:=false

Tweaking

By default, the spawn_drone.launch command will use the clover4.xacro description file. This is a "high-level" description of the drone, mainly used to attach additional sensors.

The drone "physics" may be tweaked by changing the clover4_physics.xacro file.

CHANGELOG

Changelog for package clover_description

0.21.1 (2020-11-17)

  • First release of clover_description package to ROS
  • Contributors: Alexey Rogachevskiy

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
1 catkin
1 gazebo_ros
1 gazebo_plugins
1 xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/view_drone.launch
      • model [default: $(find clover_description)/urdf/drones/clover4.xacro]
  • launch/spawn_camera.launch
      • cmd [default: $(find xacro)/xacro $(find clover_description)/urdf/sensors/rpi_cam.urdf.xacro]
  • launch/spawn_drone.launch
      • main_camera [default: true]
      • maintain_camera_rate [default: false]
      • rangefinder [default: true]
      • led [default: true]
      • gps [default: true]
      • use_clover_physics [default: false]
      • cmd [default: $(find xacro)/xacro $(find clover_description)/urdf/clover/clover4.xacro main_camera:=$(arg main_camera) rangefinder:=$(arg rangefinder) led:=$(arg led) gps:=$(arg gps) maintain_camera_rate:=$(arg maintain_camera_rate) use_clover_physics:=$(arg use_clover_physics)]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged clover_description at Robotics Stack Exchange