![]() |
inno_sim_interface package from inno_sim_interface repoinno_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
Additional Links
Maintainers
- Roman
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
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:
- FR, cw, rate, rpm (Front right motor speed)
- RL, cw, rate, rpm (Rear left motor speed)
- FL, ccw, rate, rpm (Front left motor speed)
- RR, ccw, rate, rpm (Rear right motor speed)
- aileron left, cw, deg
- aileron right, cw, deg
- elevator, cw, deg
- rudder, cw, deg
- 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
Wiki Tutorials
Source Tutorials
Launch files
Messages
Services
Plugins
Recent questions tagged inno_sim_interface at answers.ros.org
![]() |
inno_sim_interface package from inno_sim_interface repoinno_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
Additional Links
Maintainers
- Roman
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
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:
- FR, cw, rate, rpm (Front right motor speed)
- RL, cw, rate, rpm (Rear left motor speed)
- FL, ccw, rate, rpm (Front left motor speed)
- RR, ccw, rate, rpm (Rear right motor speed)
- aileron left, cw, deg
- aileron right, cw, deg
- elevator, cw, deg
- rudder, cw, deg
- 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