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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 | 2023-02-03 |
| 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 innopolis_vtol_dynamics package
Additional Links
No additional links.
Maintainers
- Roman Fedorenko
Authors
- Roman Fedorenko
- Dmitry Ponomarev
- Ezra Tal
- Winter Guerra
inno_vtol_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).
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
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | message_generation | |
| 1 | roslib | |
| 1 | message_runtime | |
| 1 | catkin | |
| 2 | roscpp | |
| 2 | std_msgs | |
| 2 | sensor_msgs | |
| 2 | geometry_msgs | |
| 1 | mavros_msgs | |
| 2 | visualization_msgs | |
| 0 | geographiclib_conversions | |
| 3 | tf2 | |
| 3 | 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/reverse_mixer.launch
- launch/uavcan_communicator.launch
-
- partial_cyphal [default: false] — [true, false]
- launch/inno_sim.launch
- launch/hitl.launch
-
- vehicle [default: innopolis_vtol] — [innopolis_vtol, iris]
- airframe [default: inno_standard_vtol] — [inno_standard_vtol, babyshark_standard_vtol, iris]
- dynamics [default: inno_vtol] — [inno_vtol, flightgoggles_multicopter]
- run_rviz [default: false] — [true, false]
- run_inno_sim_bridge [default: true] — [true, false]
- run_cyphal_communicator [default: false] — [true, false]
- run_dronecan_communicator [default: false] — [true, false]
- launch/sitl.launch
-
- vehicle [default: innopolis_vtol] — [innopolis_vtol, iris]
- airframe [default: inno_standard_vtol] — [inno_standard_vtol, babyshark_standard_vtol, iris]
- dynamics [default: inno_vtol] — [inno_vtol, flightgoggles_multicopter]
- run_rviz [default: false] — [true, false]
- run_inno_sim_bridge [default: true] — [true, false]
- run_sitl_flight_stack [default: true] — [true, false]
- launch/flight_goggle_sitl.launch
-
- vehicle [default: iris] — [standard_vtol, iris]
- run_rviz [default: false] — [true, false]
- sitl_instead_of_hitl [default: true] — [true means sitl, false means true hitl]
- launch/dynamics.launch
-
- vehicle [default: innopolis_vtol] — [innopolis_vtol, iris]
- airframe [default: inno_standard_vtol] — [inno_standard_vtol, babyshark_standard_vtol, iris]
- dynamics [default: inno_vtol] — [inno_vtol, flightgoggles_multicopter]
- 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_inno_sim_bridge [default: true] — [true, false]
- run_cyphal_communicator [default: false] — [true, false]
- run_dronecan_communicator [default: false] — [true, false]
- launch/load_parameters.launch
- launch/rviz.launch
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged innopolis_vtol_dynamics at answers.ros.org
|
|
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 | 2023-02-03 |
| 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 innopolis_vtol_dynamics package
Additional Links
No additional links.
Maintainers
- Roman Fedorenko
Authors
- Roman Fedorenko
- Dmitry Ponomarev
- Ezra Tal
- Winter Guerra
inno_vtol_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).
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
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | message_generation | |
| 1 | roslib | |
| 1 | message_runtime | |
| 1 | catkin | |
| 2 | roscpp | |
| 2 | std_msgs | |
| 2 | sensor_msgs | |
| 2 | geometry_msgs | |
| 1 | mavros_msgs | |
| 2 | visualization_msgs | |
| 0 | geographiclib_conversions | |
| 3 | tf2 | |
| 3 | 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/reverse_mixer.launch
- launch/uavcan_communicator.launch
-
- partial_cyphal [default: false] — [true, false]
- launch/inno_sim.launch
- launch/hitl.launch
-
- vehicle [default: innopolis_vtol] — [innopolis_vtol, iris]
- airframe [default: inno_standard_vtol] — [inno_standard_vtol, babyshark_standard_vtol, iris]
- dynamics [default: inno_vtol] — [inno_vtol, flightgoggles_multicopter]
- run_rviz [default: false] — [true, false]
- run_inno_sim_bridge [default: true] — [true, false]
- run_cyphal_communicator [default: false] — [true, false]
- run_dronecan_communicator [default: false] — [true, false]
- launch/sitl.launch
-
- vehicle [default: innopolis_vtol] — [innopolis_vtol, iris]
- airframe [default: inno_standard_vtol] — [inno_standard_vtol, babyshark_standard_vtol, iris]
- dynamics [default: inno_vtol] — [inno_vtol, flightgoggles_multicopter]
- run_rviz [default: false] — [true, false]
- run_inno_sim_bridge [default: true] — [true, false]
- run_sitl_flight_stack [default: true] — [true, false]
- launch/flight_goggle_sitl.launch
-
- vehicle [default: iris] — [standard_vtol, iris]
- run_rviz [default: false] — [true, false]
- sitl_instead_of_hitl [default: true] — [true means sitl, false means true hitl]
- launch/dynamics.launch
-
- vehicle [default: innopolis_vtol] — [innopolis_vtol, iris]
- airframe [default: inno_standard_vtol] — [inno_standard_vtol, babyshark_standard_vtol, iris]
- dynamics [default: inno_vtol] — [inno_vtol, flightgoggles_multicopter]
- 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_inno_sim_bridge [default: true] — [true, false]
- run_cyphal_communicator [default: false] — [true, false]
- run_dronecan_communicator [default: false] — [true, false]
- launch/load_parameters.launch
- launch/rviz.launch
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged innopolis_vtol_dynamics at answers.ros.org
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