Package Summary

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

Repository Summary

Checkout URI
VCS Type git
VCS Version melodic-devel
Last Updated 2021-05-26
CI status Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
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Package Description

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

Additional Links


  • Alexey Rogachevskiy


  • Alexey Rogachevskiy
  • Andrey Ryabov
  • Arthur Golubtsov
  • Oleg Kalachev
  • Svyatoslav Zhuravlev

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.


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 to 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


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 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

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)]


No message files found.


No service files found


No plugins found.

Recent questions tagged clover_description at Robotics Stack Exchange