No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.

inno_sim_interface package from inno_sim_interface repo

inno_sim_interface

Package Summary

Tags No category tags.
Version 0.0.0
License GPLv3
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/InnopolisAero/inno_sim_interface.git
VCS Type git
VCS Version master
Last Updated 2021-09-07
Dev Status MAINTAINED
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

The inno_sim_interface package

Additional Links

Maintainers

  • Roman

Authors

No additional authors.

Download Innopolis Simulator

Innopolis Simulator binaries are available here: https://github.com/inno-robolab/InnoSimulator

This package is an example of usage of Innopolis Simulator for visual rendering and sensors simulation in couple with Gazebo as UAV dynamics source. Our own dynamics simulation module for VTOL plane would be published soon.

Innopolis Simulator UAV Interface

VTOL Plane Flight in InnoSimulator

Innopolis Simulator UAV API

Innopolis Simulator is currently used as visual renderer and source of simulated sensor data. Dynamics simulation and control is carried outside. API is adapted for such usage.

Innopolis Simulator currently supports following API to control pose and actuators state of Innopolis VTOL UAV:

To Simulator

ROS --> Sim

GPS Position

Topic name is /sim/gps_position. Topic type is sensor_msgs/NavSatFix.

Orientation

Topic name is /sim/attitude. Topic type is geometry_msgs/QuaternionStamped.

Actuators State

Topic name is /sim/actuators. Topic type is sensor_msgs/Joy.

Axes in Joy message have following meaning:

  1. FR, cw, rate, rpm (Front right motor speed)
  2. RL, cw, rate, rpm (Rear left motor speed)
  3. FL, ccw, rate, rpm (Front left motor speed)
  4. RR, ccw, rate, rpm (Rear right motor speed)
  5. aileron left, cw, deg
  6. aileron right, cw, deg
  7. elevator, cw, deg
  8. rudder, cw, deg
  9. thrust, pusher, rate, rpm

Gimbal

Topic name is /sim/gimbal_angle. Topic type is geometry_msgs/Vector3Stamped.

  • vector.x is roll in deg,
  • vector.y is pitch in deg,
  • vector.z is yaw in deg.

Roll, pitch and yaw values are global.

From Simulator

Sim --> ROS

Camera

Topic name is /sim/camera/compressed. Topic type is sensor_msgs/CompressedImage.

LIDAR

Topic name is /sim/velodyne_points. Topic type is sensor_msgs/PointCloud2.

Installation

Install PX4 and ROS according to manual (ubuntu_sim_ros_melodic.sh bash script usage is recommended).

Install rosbridge from LGSVL:

roscd
cd ../src
git clone https://github.com/lgsvl/rosbridge_suite.git
catkin build
sudo apt-get install ros-melodic-rosauth
sudo apt-get install python-bson
sudo apt-get install python-protobuf

Launch with Gazebo (PX4 SITL)

Run all:

roscd inno_sim_interface/scripts
scripts/run_all.sh

Kill:

tmux kill-session -t innosim

CHANGELOG
No CHANGELOG found.

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.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged inno_sim_interface at answers.ros.org

inno_sim_interface package from inno_sim_interface repo

inno_sim_interface

Package Summary

Tags No category tags.
Version 0.0.0
License GPLv3
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/InnopolisAero/inno_sim_interface.git
VCS Type git
VCS Version master
Last Updated 2021-09-07
Dev Status MAINTAINED
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

The inno_sim_interface package

Additional Links

Maintainers

  • Roman

Authors

No additional authors.

Download Innopolis Simulator

Innopolis Simulator binaries are available here: https://github.com/inno-robolab/InnoSimulator

This package is an example of usage of Innopolis Simulator for visual rendering and sensors simulation in couple with Gazebo as UAV dynamics source. Our own dynamics simulation module for VTOL plane would be published soon.

Innopolis Simulator UAV Interface

VTOL Plane Flight in InnoSimulator

Innopolis Simulator UAV API

Innopolis Simulator is currently used as visual renderer and source of simulated sensor data. Dynamics simulation and control is carried outside. API is adapted for such usage.

Innopolis Simulator currently supports following API to control pose and actuators state of Innopolis VTOL UAV:

To Simulator

ROS --> Sim

GPS Position

Topic name is /sim/gps_position. Topic type is sensor_msgs/NavSatFix.

Orientation

Topic name is /sim/attitude. Topic type is geometry_msgs/QuaternionStamped.

Actuators State

Topic name is /sim/actuators. Topic type is sensor_msgs/Joy.

Axes in Joy message have following meaning:

  1. FR, cw, rate, rpm (Front right motor speed)
  2. RL, cw, rate, rpm (Rear left motor speed)
  3. FL, ccw, rate, rpm (Front left motor speed)
  4. RR, ccw, rate, rpm (Rear right motor speed)
  5. aileron left, cw, deg
  6. aileron right, cw, deg
  7. elevator, cw, deg
  8. rudder, cw, deg
  9. thrust, pusher, rate, rpm

Gimbal

Topic name is /sim/gimbal_angle. Topic type is geometry_msgs/Vector3Stamped.

  • vector.x is roll in deg,
  • vector.y is pitch in deg,
  • vector.z is yaw in deg.

Roll, pitch and yaw values are global.

From Simulator

Sim --> ROS

Camera

Topic name is /sim/camera/compressed. Topic type is sensor_msgs/CompressedImage.

LIDAR

Topic name is /sim/velodyne_points. Topic type is sensor_msgs/PointCloud2.

Installation

Install PX4 and ROS according to manual (ubuntu_sim_ros_melodic.sh bash script usage is recommended).

Install rosbridge from LGSVL:

roscd
cd ../src
git clone https://github.com/lgsvl/rosbridge_suite.git
catkin build
sudo apt-get install ros-melodic-rosauth
sudo apt-get install python-bson
sudo apt-get install python-protobuf

Launch with Gazebo (PX4 SITL)

Run all:

roscd inno_sim_interface/scripts
scripts/run_all.sh

Kill:

tmux kill-session -t innosim

CHANGELOG
No CHANGELOG found.

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.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged inno_sim_interface at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.