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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 | 2023-09-17 |
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
Code-CT Innopolis 3d Simulator
This package is an example of using the Code-CT Innopolis 3d Simulator for visual rendering and sensor simulation in combination with a UAV dynamics source from ROS.
Code-CT Innopolis 3d Simulator Interface
Code-CT Innopolis 3d Simulator UAV API
Code-CT Innopolis 3d Simulator is currently used as a visual renderer and source of simulated sensor data. Dynamics simulation and control is done externally. The API is adapted for such use.
Code-CT Innopolis 3d Simulator currently supports the following API to control the pose and actuator state of a copter or VTOL aircraft 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
.
The axes in the Joy message have the following meanings:
- 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)
- left aileron, cw, deg
- right aileron, cw, deg
- elevator, cw, deg
- rudder, cw, deg
- thrust, throttle, rate, rpm
Gimbal
Topic name is /sim/gimbal_angle
.
Topic type is geometry_msgs/Vector3Stamped
.
-
vector.x
is roll in degrees, -
vector.y
is pitch in degrees, -
vector.z
is yaw in degrees.
The roll, pitch and yaw values are global.
From the 3d 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 and startup
Please refer to the main project repo: innopolis_vtol_dynamics
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 | 2023-09-17 |
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
Code-CT Innopolis 3d Simulator
This package is an example of using the Code-CT Innopolis 3d Simulator for visual rendering and sensor simulation in combination with a UAV dynamics source from ROS.
Code-CT Innopolis 3d Simulator Interface
Code-CT Innopolis 3d Simulator UAV API
Code-CT Innopolis 3d Simulator is currently used as a visual renderer and source of simulated sensor data. Dynamics simulation and control is done externally. The API is adapted for such use.
Code-CT Innopolis 3d Simulator currently supports the following API to control the pose and actuator state of a copter or VTOL aircraft 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
.
The axes in the Joy message have the following meanings:
- 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)
- left aileron, cw, deg
- right aileron, cw, deg
- elevator, cw, deg
- rudder, cw, deg
- thrust, throttle, rate, rpm
Gimbal
Topic name is /sim/gimbal_angle
.
Topic type is geometry_msgs/Vector3Stamped
.
-
vector.x
is roll in degrees, -
vector.y
is pitch in degrees, -
vector.z
is yaw in degrees.
The roll, pitch and yaw values are global.
From the 3d 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 and startup
Please refer to the main project repo: innopolis_vtol_dynamics