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ignition_assets package from aerostack2 repo

aerostack2 as2_aerial_platform as2_crazyflie_platform as2_ignition_platform as2_pixhawk_platform as2_tello_platform as2_behavior_tree as2_aruco_detector as2_behavior as2_behaviors as2_movement_behaviors follow_path_behaviour follow_path_plugin_base follow_path_plugins goto_behaviour goto_plugin_base goto_plugins land_behaviour land_plugin_base land_plugins takeoff_behaviour takeoff_plugin_base takeoff_plugins as2_platform_behaviors as2_trajectory_generator as2_cli as2_controller as2_controller_manager as2_controller_plugin_base as2_controller_plugin_differential_flatness as2_controller_plugin_speed_controller as2_core as2_hardware_drivers as2_realsense_interface as2_usb_camera_interface as2_motion_reference_handlers as2_msgs as2_python_api as2_gazebo_assets as2_simulation_assets ignition_assets as2_state_estimator as2_state_estimator_plugin_base as2_state_estimator_plugin_external_odom as2_state_estimator_plugin_ground_truth as2_state_estimator_plugin_mocap as2_alphanumeric_viewer as2_keyboard_teleoperation as2_user_interface

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Package Summary

Tags No category tags.
Version 0.2.2
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/aerostack2/aerostack2.git
VCS Type git
VCS Version galactic
Last Updated 2022-12-20
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Ignition Gazebo resources

Additional Links

No additional links.

Maintainers

  • Computer Vision And Aerial Robotics Group (UPM)

Authors

No additional authors.
as2_simulation_assets/ignition_assets/README.md

ignition_assets

Colletion of AS2 Ignition Gazebo assets and scripts.

Tested on Ignition 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 ignition_assets package version corresponding to your ROS2 version.

INDEX

- ADVANCED USAGE

RESOURCES

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

DRONE MODELS

Drone model list. | SDF Name | Status | Image | | - | :-: | - | | *quadroto_base* | FLYING | ![](docs/imgs/quadrotor_base.png) | | *hexrotor_base* | FLYING | ![](docs/imgs/hexrotor_base.png) | | *crazyflie* | UNSTABLE FLYING | ![](docs/imgs/crazyflie.png) |

SENSOR MODELS

Sensor model list. | SDF Name | Description | Plugin | | - | - | - | | *imu* | **NOT SDF**: Alreay included in drone models. IMU sensor reports vertical position, angular velocity and linear acceleration readings. | ignition::gazebo::systems::Imu | | *air_pressure* | **NOT SDF**: Alreay included in drone models. Air pressure sensor reports vertical position and velocity readings. | ignition::gazebo::systems::AirPressure | | *magnetometer* | **NOT SDF**: Alreay included in drone models. Magnetometer sensor reports the magnetic field in its current location. | ignition::gazebo::systems::Magnetometer | | *hd_camera* | RGB Camera with 1280x960 resolution. | - | | *vga_camera* | RGB Camera with 640x480 resolution. | - | | *semantic_camera* | RGB Camera with 1280x960 resolution with semantic segmentation data. | - | | *rgbd_camera* | RGBD Camera with 640x480 resolution and 10 meters of depth sensing. | - | | *point_lidar* | Single point lidar with 40 meter range. | - | | *planar_lidar* | Planar scanning two-dimension lidar with 30 meter range. | - | | *3d_lidar* | Three-dimensional scan with 100 meter range. | - | | *gps* | Navigation satellite sensor reports position and velocity in spherical coordinates (latitude / longitude). | ignition::gazebo::systems::NavSat | | *suction_gripper* | Light weight suction gripper. | mbzirc::SuctionGripperPlugin |

WORLD MODELS

World model list. | SDF Name | Description | Image | | - | - | - | | *empty* | Empty world with ground. | ![](docs/imgs/empty.png) | | *test_gripper* | Empty world with two small objects to test the gripper. | ![](docs/imgs/test_gripper.png) |

HOW TO RUN: Basic usage

Previously setting AS2 environment, simply run:

${AEROSTACK2_PATH}/simulation/ignition/scripts/run_ign.sh

or using a config file (see config files) :

${AEROSTACK2_PATH/simulation/ignition/scripts/run_ign.sh <config-file>

This will run for you ign gazebo server, spawn an quadrotor_base model and open ign gazebo client (GUI).

OPTIONS

Inital configuration aspects as world, drone model, drone pose or adding several drones can be done setting environment variables or using a config file.

  • Run on start:
    export RUN_ON_START=1
  • Verbose mode:
    export VERBOSE_SIM=1

ENV VARS

Previously set needed environment variables before launching the script.

  • World
    export UAV_WORLD=<path-to-world>
  • Drone model
    export UAV_MODEL=<model-name>
  • Drone pose
    export UAV_X=<float>  # meters
    export UAV_Y=<float>  # meters
    export UAV_Z=<float>  # meters
    export UAV_YAW=<float>  # radians

Using environment variables is though when using only one drone.

CONFIG FILE

Using a config file lets you to set the simulation environment. You can select a world (or none) and attach to it a number of desired drones with desired model, position and set of sensors. Please pay atention to the format file, otherwise it may fail.

JSON file template:

{
    "world": "<world-name>",                // optional: deafult world if empty
    "drones": [                             // optional: no drones if empty
    {
        "model": "<model-name>",            // optional: default model if empty
        "name": "<namespace>",              // optional: default namespace if empty
        "xyz": [<x>, <y>, <z>],             // optional: [0, 0, 0] if empty
        "rpy": [<roll>, <pitch>, <yaw>],    // optional: [0, 0, 0] if empty
        "flight_time": <min>,               // optional: 0 or empty means not use battery
        "payload": {                        // optional: no sensors if none
            "<sensor-name>": {              // REQUIRED if sensor is used
                "sensor": "<sensor-type>",  // REQUIRED if sensor is used
                "xyz": [<x>, <y>, <z>],     // optional: [0, 0, 0] if empty
                "rpy": [<roll>, <pitch>, <yaw>], // optional: [0, 0, 0] if empty
            },
            "<sensor-name-2>": {
                // Second sensor...
            }
        }
    },
    {
        // Second drone...
    }
    ]
}

Notice that comments are not available in JSON format and fields between "<" and ">" should be replaced with each value or removed (along with the field) if is not wanted or required.

Example of a valid JSON config file:

{
    "world": "empty",
    "drones": [
    {
        "model": "quadrotor_base",
        "name": "drone_sim_0",
        "xyz": [ 0.0, 0.0, 0.2 ],
        "payload": {
            "front_camera": {
                "sensor": "hd_camera",
                "rpy": [ 0.0, 0.0, 1.57 ]
            },
            "lidar_0": {
                "sensor": "3d_lidar",
                "xyz": [ 0.0, 0.0, -0.5 ]
            }
        }
    },
    {
        "model": "hexrotor_base",
        "xyz": [ 3.0, 0.0, 0.2 ],
        "rpy": [ 0, 0, 1.57 ],
        "flight_time": 10
    }
    ]
}

MORE OPTIONS

  • Use custom models in world/drone:
    export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:<custom-model-path>
  • Run simulation on start:
    export RUN_ON_START=1

EXAMPLES

Several examples can be found on test folder.

CHANGELOG
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Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

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Plugins

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