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innopolis_vtol_dynamics package from inno_vtol_dynamics repoinnopolis_vtol_dynamics |
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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_vtol_dynamics.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-12-08 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The innopolis_vtol_dynamics package
Additional Links
No additional links.
Maintainers
- Roman Fedorenko
Authors
- Roman Fedorenko
- Dmitry Ponomarev
- Ezra Tal
- Winter Guerra
Zilant UAV dynamics 
This package is the core of the UAV HITL dynamics simulator. It has an implementation of custom quadcopter vertical takeoff and landing aircraft dynamics.
Innopolis VTOL has UAVCAN onboard electronics based on RaccoonLab Cyphal/DroneCAN sensors and actuators (so it’s a good example of full UAVCAN-based onboard control and object for new UAVCAN-HITL simulation approach).
Purpose
- Modeling of UAV onboard systems at a low hardware level
- Development and testing of intelligent automatic control systems for UAVs.
- Training in the development and use of drones, including creating datasets and automated testing.
Minimal technical requirements
-
Operating System: We’ve tailored the simulator for modern versions of Windows, Linux, and Mac. Choose the build that matches your OS.
-
CPU: Aim for an Intel i7 from the 11th or 12th generation. For those using AMD, any equivalent processor will suffice.
-
RAM: 16GB is a recommended minimum, but more is always better for performance.
Design
This package contains Innopolis VTOL simulation based on rigid body kinematics and dynamics, CFD analysis and actuators simulation.
The package is used inside a new Cyphal/DroneCAN-HITL .
The node from this package communicates with the flight stack via communicator UAV dynamics by subscribing and publishing to the following topics:
flowchart LR
actuators[ /uav/actuators, sensor_msgs/Joy] --> F(uav_hitl_node)
arm[ /uav/arm, std_msgs/Bool] --> F(uav_hitl_node)
calibration[ /uav/calibration, std_msgs/UInt8] --> F(uav_hitl_node)
scenario[ /uav/scenario, std_msgs/UInt8] --> F(uav_hitl_node)
F --> temperature[ /uav/static_temperature, std_msgs/Float32]
F --> static_pressure[ /uav/static_pressure, std_msgs/Float32]
F --> raw_air_data[ /uav/raw_air_data, std_msgs/Float32]
F --> gps_point[ /uav/gps_point, sensor_msgs/NavSatFix]
F --> velocity[ /uav/velocity, geometry_msgs/Twist]
F --> imu[ /uav/imu, sensor_msgs/Imu]
F --> mag[ /uav/mag, sensor_msgs/MagneticField]
F --> esc_status[ /uav/esc_status, mavros_msgs/ESCTelemetryItem]
F --> ice_rpm[ /uav/esc_status, mavros_msgs/ESCStatusItem]
F --> ice_status[ /uav/ice_status, std_msgs/UInt8]
F --> fuel_tank_status[ /uav/ice_status, std_msgs/UInt8]
F --> battery_status[ /uav/battery_status, sensor_msgs/BatteryState]
Auxilliary topics might be enabled/disabled in the sim_params.yaml config file. You may implement your own sensors in the sensors.cpp file.
To work in pair with InnoSimulator as physics engine via inno_sim_interface it publishes and subscribes on following topics.
flowchart LR
F(uav_hitl_node) --> actuators[ /uav/actuators, sensor_msgs/Joy]
F --> gps_point[ /uav/gps_point, sensor_msgs/NavSatFix]
F --> velocity[ /uav/velocity, geometry_msgs/Twist]
F --> attitude[ /uav/attitude, geometry_msgs/QuaternionStamped]
actuators --> G(inno_sim_interface)
gps_point --> G
velocity --> G
attitude --> G
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| message_generation | |
| roslib | |
| message_runtime | |
| catkin | |
| roscpp | |
| std_msgs | |
| sensor_msgs | |
| geometry_msgs | |
| mavros_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros |
System Dependencies
| Name |
|---|
| yaml-cpp |
Dependant Packages
No known dependants.
Launch files
- launch/gazebo.launch
-
- vehicle [default: standard_vtol] — [standard_vtol, iris]
- fcu_url [default: udp://:14540@127.0.0.1:14557] — [udp://:14560@127.0.0.1:14558]
- gui [default: true]
- launch/uavcan_communicator.launch
-
- partial_cyphal [default: false] — [true, false]
- launch/hitl.launch
-
- logging_type — [standard_vtol, quadcopter]
- vehicle_params — Path to yaml file with parameters
- mixer [default: vtol_13070_mixer] — [vtol_13070_mixer, babyshark_standard_vtol_mixer, direct_mixer]
- dynamics [default: vtol_dynamics] — [vtol_dynamics, quadcopter]
- run_rviz [default: false] — [true, false]
- run_3d_sim_bridge [default: false] — [true, false]
- run_cyphal_communicator [default: false] — [true, false]
- run_dronecan_communicator [default: false] — [true, false]
- launch/sitl.launch
-
- logging_type — [standard_vtol, quadcopter]
- sitl_vehicle — [innopolis_vtol, iris]
- vehicle_params — Path to yaml file with parameters
- mixer [default: vtol_13070_mixer] — [vtol_13070_mixer, babyshark_standard_vtol_mixer, direct_mixer]
- dynamics [default: vtol_dynamics] — [vtol_dynamics, quadcopter]
- run_rviz [default: false] — [true, false]
- run_3d_sim_bridge [default: false] — [true, false]
- run_sitl_flight_stack [default: true] — [true, false]
- launch/3d_sim.launch
- launch/dynamics.launch
-
- logging_type — [standard_vtol, quadcopter]
- sitl_vehicle [default: iris] — [innopolis_vtol, iris]
- mixer [default: vtol_13070_mixer] — [vtol_13070_mixer, babyshark_standard_vtol_mixer, direct_mixer]
- dynamics [default: vtol_dynamics] — [vtol_dynamics, quadcopter]
- vehicle_params — Path to yaml file with parameters
- run_rviz [default: false] — [true, false]
- run_sitl_flight_stack [default: true] — [true means sitl, false means do nothing]
- run_sitl_communicator [default: false] — [true means run mavlink communicator, false means do nothing]
- run_hitl_communicator [default: false] — [true means run uavcan communicator, false means do nothing]
- run_3d_sim_bridge [default: false] — [true, false]
- run_cyphal_communicator [default: false] — [true, false]
- run_dronecan_communicator [default: false] — [true, false]
- launch/load_parameters.launch
-
- vehicle_params — Path to yaml file with parameters
- launch/rviz.launch
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged innopolis_vtol_dynamics at Robotics Stack Exchange
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|
|
innopolis_vtol_dynamics package from inno_vtol_dynamics repoinnopolis_vtol_dynamics |
|
|
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_vtol_dynamics.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-12-08 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The innopolis_vtol_dynamics package
Additional Links
No additional links.
Maintainers
- Roman Fedorenko
Authors
- Roman Fedorenko
- Dmitry Ponomarev
- Ezra Tal
- Winter Guerra
Zilant UAV dynamics
This package is the core of the UAV HITL dynamics simulator. It has an implementation of custom quadcopter vertical takeoff and landing aircraft dynamics.
Innopolis VTOL has UAVCAN onboard electronics based on RaccoonLab Cyphal/DroneCAN sensors and actuators (so it’s a good example of full UAVCAN-based onboard control and object for new UAVCAN-HITL simulation approach).
Purpose
- Modeling of UAV onboard systems at a low hardware level
- Development and testing of intelligent automatic control systems for UAVs.
- Training in the development and use of drones, including creating datasets and automated testing.
Minimal technical requirements
-
Operating System: We’ve tailored the simulator for modern versions of Windows, Linux, and Mac. Choose the build that matches your OS.
-
CPU: Aim for an Intel i7 from the 11th or 12th generation. For those using AMD, any equivalent processor will suffice.
-
RAM: 16GB is a recommended minimum, but more is always better for performance.
Design
This package contains Innopolis VTOL simulation based on rigid body kinematics and dynamics, CFD analysis and actuators simulation.
The package is used inside a new Cyphal/DroneCAN-HITL .
The node from this package communicates with the flight stack via communicator UAV dynamics by subscribing and publishing to the following topics:
flowchart LR
actuators[ /uav/actuators, sensor_msgs/Joy] --> F(uav_hitl_node)
arm[ /uav/arm, std_msgs/Bool] --> F(uav_hitl_node)
calibration[ /uav/calibration, std_msgs/UInt8] --> F(uav_hitl_node)
scenario[ /uav/scenario, std_msgs/UInt8] --> F(uav_hitl_node)
F --> temperature[ /uav/static_temperature, std_msgs/Float32]
F --> static_pressure[ /uav/static_pressure, std_msgs/Float32]
F --> raw_air_data[ /uav/raw_air_data, std_msgs/Float32]
F --> gps_point[ /uav/gps_point, sensor_msgs/NavSatFix]
F --> velocity[ /uav/velocity, geometry_msgs/Twist]
F --> imu[ /uav/imu, sensor_msgs/Imu]
F --> mag[ /uav/mag, sensor_msgs/MagneticField]
F --> esc_status[ /uav/esc_status, mavros_msgs/ESCTelemetryItem]
F --> ice_rpm[ /uav/esc_status, mavros_msgs/ESCStatusItem]
F --> ice_status[ /uav/ice_status, std_msgs/UInt8]
F --> fuel_tank_status[ /uav/ice_status, std_msgs/UInt8]
F --> battery_status[ /uav/battery_status, sensor_msgs/BatteryState]
Auxilliary topics might be enabled/disabled in the sim_params.yaml config file. You may implement your own sensors in the sensors.cpp file.
To work in pair with InnoSimulator as physics engine via inno_sim_interface it publishes and subscribes on following topics.
flowchart LR
F(uav_hitl_node) --> actuators[ /uav/actuators, sensor_msgs/Joy]
F --> gps_point[ /uav/gps_point, sensor_msgs/NavSatFix]
F --> velocity[ /uav/velocity, geometry_msgs/Twist]
F --> attitude[ /uav/attitude, geometry_msgs/QuaternionStamped]
actuators --> G(inno_sim_interface)
gps_point --> G
velocity --> G
attitude --> G
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| message_generation | |
| roslib | |
| message_runtime | |
| catkin | |
| roscpp | |
| std_msgs | |
| sensor_msgs | |
| geometry_msgs | |
| mavros_msgs | |
| visualization_msgs | |
| tf2 | |
| tf2_ros |
System Dependencies
| Name |
|---|
| yaml-cpp |
Dependant Packages
No known dependants.
Launch files
- launch/gazebo.launch
-
- vehicle [default: standard_vtol] — [standard_vtol, iris]
- fcu_url [default: udp://:14540@127.0.0.1:14557] — [udp://:14560@127.0.0.1:14558]
- gui [default: true]
- launch/uavcan_communicator.launch
-
- partial_cyphal [default: false] — [true, false]
- launch/hitl.launch
-
- logging_type — [standard_vtol, quadcopter]
- vehicle_params — Path to yaml file with parameters
- mixer [default: vtol_13070_mixer] — [vtol_13070_mixer, babyshark_standard_vtol_mixer, direct_mixer]
- dynamics [default: vtol_dynamics] — [vtol_dynamics, quadcopter]
- run_rviz [default: false] — [true, false]
- run_3d_sim_bridge [default: false] — [true, false]
- run_cyphal_communicator [default: false] — [true, false]
- run_dronecan_communicator [default: false] — [true, false]
- launch/sitl.launch
-
- logging_type — [standard_vtol, quadcopter]
- sitl_vehicle — [innopolis_vtol, iris]
- vehicle_params — Path to yaml file with parameters
- mixer [default: vtol_13070_mixer] — [vtol_13070_mixer, babyshark_standard_vtol_mixer, direct_mixer]
- dynamics [default: vtol_dynamics] — [vtol_dynamics, quadcopter]
- run_rviz [default: false] — [true, false]
- run_3d_sim_bridge [default: false] — [true, false]
- run_sitl_flight_stack [default: true] — [true, false]
- launch/3d_sim.launch
- launch/dynamics.launch
-
- logging_type — [standard_vtol, quadcopter]
- sitl_vehicle [default: iris] — [innopolis_vtol, iris]
- mixer [default: vtol_13070_mixer] — [vtol_13070_mixer, babyshark_standard_vtol_mixer, direct_mixer]
- dynamics [default: vtol_dynamics] — [vtol_dynamics, quadcopter]
- vehicle_params — Path to yaml file with parameters
- run_rviz [default: false] — [true, false]
- run_sitl_flight_stack [default: true] — [true means sitl, false means do nothing]
- run_sitl_communicator [default: false] — [true means run mavlink communicator, false means do nothing]
- run_hitl_communicator [default: false] — [true means run uavcan communicator, false means do nothing]
- run_3d_sim_bridge [default: false] — [true, false]
- run_cyphal_communicator [default: false] — [true, false]
- run_dronecan_communicator [default: false] — [true, false]
- launch/load_parameters.launch
-
- vehicle_params — Path to yaml file with parameters
- launch/rviz.launch
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.