No version for distro humble showing melodic. Known supported distros are highlighted in the buttons above.

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
melodic

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code

No version for distro jazzy showing melodic. Known supported distros are highlighted in the buttons above.

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
melodic

API Docs
Browse Code

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code

No version for distro kilted showing melodic. Known supported distros are highlighted in the buttons above.

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
melodic

API Docs
Browse Code

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code

No version for distro rolling showing melodic. Known supported distros are highlighted in the buttons above.

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
melodic

API Docs
Browse Code

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code

No version for distro ardent showing melodic. Known supported distros are highlighted in the buttons above.

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
melodic

API Docs
Browse Code

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code

No version for distro bouncy showing melodic. Known supported distros are highlighted in the buttons above.

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
melodic

API Docs
Browse Code

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code

No version for distro crystal showing melodic. Known supported distros are highlighted in the buttons above.

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
melodic

API Docs
Browse Code

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code

No version for distro eloquent showing melodic. Known supported distros are highlighted in the buttons above.

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
melodic

API Docs
Browse Code

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code

No version for distro dashing showing melodic. Known supported distros are highlighted in the buttons above.

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
melodic

API Docs
Browse Code

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code

No version for distro galactic showing melodic. Known supported distros are highlighted in the buttons above.

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
melodic

API Docs
Browse Code

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code

No version for distro foxy showing melodic. Known supported distros are highlighted in the buttons above.

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
melodic

API Docs
Browse Code

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code

No version for distro iron showing melodic. Known supported distros are highlighted in the buttons above.

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
melodic

API Docs
Browse Code

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code

No version for distro lunar showing melodic. Known supported distros are highlighted in the buttons above.

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
melodic

API Docs
Browse Code
Wiki

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro jade showing melodic. Known supported distros are highlighted in the buttons above.

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
melodic

API Docs
Browse Code
Wiki

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro indigo showing melodic. Known supported distros are highlighted in the buttons above.

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
melodic

API Docs
Browse Code
Wiki

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro hydro showing melodic. Known supported distros are highlighted in the buttons above.

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
melodic

API Docs
Browse Code
Wiki

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro kinetic showing melodic. Known supported distros are highlighted in the buttons above.

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
melodic

API Docs
Browse Code
Wiki

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code Wiki

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
melodic

API Docs
Browse Code
Wiki

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code Wiki

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

innopolis_vtol_dynamics

ROS Distro
noetic

API Docs
Browse Code
Wiki

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
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The innopolis_vtol_dynamics package

Additional Links

No additional links.

Maintainers

Roman Fedorenko

Authors

Roman Fedorenko
Dmitry Ponomarev
Ezra Tal
Winter Guerra

README.md

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.

VTOL plane

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.

Innopolis VTOL plane dynamics structure

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.

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/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/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/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/load_parameters.launch
- - vehicle_params — Path to yaml file with parameters
launch/rviz.launch
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/uavcan_communicator.launch
- - partial_cyphal [default: false] — [true, false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

API Docs Browse Code Wiki

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

ROS Distromelodic

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Zilant UAV dynamics

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged innopolis_vtol_dynamics at Robotics Stack Exchange

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

ROS Distromelodic

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Zilant UAV dynamics

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged innopolis_vtol_dynamics at Robotics Stack Exchange

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

ROS Distromelodic

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Zilant UAV dynamics

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged innopolis_vtol_dynamics at Robotics Stack Exchange

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

ROS Distromelodic

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Zilant UAV dynamics

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged innopolis_vtol_dynamics at Robotics Stack Exchange

innopolis_vtol_dynamics package from inno_vtol_dynamics repo

ROS Distromelodic

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Zilant UAV dynamics

Package Dependencies

System Dependencies

Dependant Packages

ROS Distro
melodic

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

ROS Distro
melodic

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

ROS Distro
melodic

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

ROS Distro
melodic

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

ROS Distro
melodic

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

ROS Distro
melodic

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

ROS Distro
melodic

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

ROS Distro
melodic

Recent questions tagged `innopolis_vtol_dynamics` at Robotics Stack Exchange

ROS Distro
melodic