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:

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. left aileron, cw, deg
6. right aileron, cw, deg
7. elevator, cw, deg
8. rudder, cw, deg
9. 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