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innopolis_vtol_dynamics package from inno_vtol_dynamics repoinnopolis_vtol_dynamics |
|
Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | GPLv3 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/InnopolisAero/inno_vtol_dynamics.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2022-12-13 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Roman Fedorenko
Authors
- Roman Fedorenko
- Dmitry Ponomarev
- Ezra Tal
- Winter Guerra
inno_vtol_dynamics
This package is the core of the UAV HITL dynamics simulator. It has an implementation of custom quadcopter vertical takeoff and landing aircraft dynamics.
Innopolis VTOL has UAVCAN onboard electronics based on RaccoonLab UAVCAN sensors and actuators (so it's a good example of full UAVCAN-based onboard control and object for new UAVCAN-HITL simulation approach).
This package contains Innopolis VTOL simulation based on rigid body kinematics and dynamics, CFD analysis and actuators simulation.
The package is used inside a new UAVCAN-HITL .
The node from this package communicates with the flight stack via communicator UAV dynamics
by subscribing and publishing to the following topics:
№ | Subscribed topics | msg |
---|---|---|
1 | /uav/actuators | sensor_msgs/Joy |
2 | /uav/arm | std_msgs::Bool |
Minimal sensors publishers list of topics:
№ | Advertised topics | msg |
---|---|---|
1 | /uav/static_temperature | uavcan_msgs/StaticTemperature |
2 | /uav/static_pressure | uavcan_msgs/StaticPressure |
3 | /uav/raw_air_data | uavcan_msgs/RawAirData |
4 | /uav/gps_position | uavcan_msgs/Fix |
5 | /uav/imu | sensor_msgs/Imu |
6 | /uav/mag | sensor_msgs/MagneticField |
Extended sensors publishers list of topics:
№ | Advertised topics | msg |
---|---|---|
7 | /uav/esc_status | uavcan_msgs/EscStatus |
8 | /uav/ice_status | uavcan_msgs/IceReciprocatingStatus |
9 | /uav/fuel_tank_status | uavcan_msgs/IceFuelTankStatus |
10 | /uav/battery_status | sensor_msgs/BatteryState |
Here topics 1-6 are necessary for any simulation. The last 4 topics are auxiliary and you may enable/disable them 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.
№ | Advertised topics | msg |
---|---|---|
1 | /uav/actuators | sensor_msgs/Joy |
2 | /uav/gps_position | uavcan_msgs/Fix |
3 | /uav/attitude | geometry_msgs/QuaternionStamped |
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | message_generation | |
1 | roslib | |
1 | message_runtime | |
1 | catkin | |
2 | roscpp | |
2 | std_msgs | |
2 | sensor_msgs | |
2 | geometry_msgs | |
1 | uavcan_msgs | |
2 | visualization_msgs | |
0 | geographiclib_conversions | |
3 | tf2 | |
3 | tf2_ros |
System Dependencies
Name |
---|
yaml-cpp |
Dependant Packages
Launch files
- launch/gazebo.launch
-
- vehicle [default: standard_vtol] — [standard_vtol, iris]
- fcu_url [default: udp://:14540@127.0.0.1:14557] — [udp://:14560@127.0.0.1:14558]
- gui [default: true]
- launch/reverse_mixer.launch
- launch/uavcan_communicator.launch
-
- partial_cyphal [default: false] — [true, false]
- launch/inno_sim.launch
- launch/hitl.launch
-
- vehicle [default: innopolis_vtol] — [innopolis_vtol, iris]
- airframe [default: inno_standard_vtol] — [inno_standard_vtol, babyshark_standard_vtol, iris]
- dynamics [default: inno_vtol] — [inno_vtol, flightgoggles_multicopter]
- run_rviz [default: false] — [true, false]
- run_inno_sim_bridge [default: false] — [true, false]
- run_cyphal_communicator [default: false] — [true, false]
- run_dronecan_communicator [default: false] — [true, false]
- launch/sitl.launch
-
- vehicle [default: innopolis_vtol] — [innopolis_vtol, iris]
- airframe [default: inno_standard_vtol] — [inno_standard_vtol, babyshark_standard_vtol, iris]
- dynamics [default: inno_vtol] — [inno_vtol, flightgoggles_multicopter]
- run_rviz [default: false] — [true, false]
- run_inno_sim_bridge [default: true] — [true, false]
- run_sitl_flight_stack [default: true] — [true, false]
- launch/flight_goggle_sitl.launch
-
- vehicle [default: iris] — [standard_vtol, iris]
- run_rviz [default: false] — [true, false]
- sitl_instead_of_hitl [default: true] — [true means sitl, false means true hitl]
- launch/dynamics.launch
-
- vehicle [default: innopolis_vtol] — [innopolis_vtol, iris]
- airframe [default: inno_standard_vtol] — [inno_standard_vtol, babyshark_standard_vtol, iris]
- dynamics [default: inno_vtol] — [inno_vtol, flightgoggles_multicopter]
- run_rviz [default: false] — [true, false]
- run_sitl_flight_stack [default: true] — [true means sitl, false means do nothing]
- run_sitl_communicator [default: false] — [true means run mavlink communicator, false means do nothing]
- run_hitl_communicator [default: false] — [true means run uavcan communicator, false means do nothing]
- run_inno_sim_bridge [default: true] — [true, false]
- run_cyphal_communicator [default: false] — [true, false]
- run_dronecan_communicator [default: false] — [true, false]
- launch/load_parameters.launch
- launch/rviz.launch
Messages
Services
Plugins
Recent questions tagged innopolis_vtol_dynamics at answers.ros.org
![]() |
innopolis_vtol_dynamics package from inno_vtol_dynamics repoinnopolis_vtol_dynamics |
|
Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | GPLv3 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/InnopolisAero/inno_vtol_dynamics.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2022-12-13 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Roman Fedorenko
Authors
- Roman Fedorenko
- Dmitry Ponomarev
- Ezra Tal
- Winter Guerra
inno_vtol_dynamics
This package is the core of the UAV HITL dynamics simulator. It has an implementation of custom quadcopter vertical takeoff and landing aircraft dynamics.
Innopolis VTOL has UAVCAN onboard electronics based on RaccoonLab UAVCAN sensors and actuators (so it's a good example of full UAVCAN-based onboard control and object for new UAVCAN-HITL simulation approach).
This package contains Innopolis VTOL simulation based on rigid body kinematics and dynamics, CFD analysis and actuators simulation.
The package is used inside a new UAVCAN-HITL .
The node from this package communicates with the flight stack via communicator UAV dynamics
by subscribing and publishing to the following topics:
№ | Subscribed topics | msg |
---|---|---|
1 | /uav/actuators | sensor_msgs/Joy |
2 | /uav/arm | std_msgs::Bool |
Minimal sensors publishers list of topics:
№ | Advertised topics | msg |
---|---|---|
1 | /uav/static_temperature | uavcan_msgs/StaticTemperature |
2 | /uav/static_pressure | uavcan_msgs/StaticPressure |
3 | /uav/raw_air_data | uavcan_msgs/RawAirData |
4 | /uav/gps_position | uavcan_msgs/Fix |
5 | /uav/imu | sensor_msgs/Imu |
6 | /uav/mag | sensor_msgs/MagneticField |
Extended sensors publishers list of topics:
№ | Advertised topics | msg |
---|---|---|
7 | /uav/esc_status | uavcan_msgs/EscStatus |
8 | /uav/ice_status | uavcan_msgs/IceReciprocatingStatus |
9 | /uav/fuel_tank_status | uavcan_msgs/IceFuelTankStatus |
10 | /uav/battery_status | sensor_msgs/BatteryState |
Here topics 1-6 are necessary for any simulation. The last 4 topics are auxiliary and you may enable/disable them 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.
№ | Advertised topics | msg |
---|---|---|
1 | /uav/actuators | sensor_msgs/Joy |
2 | /uav/gps_position | uavcan_msgs/Fix |
3 | /uav/attitude | geometry_msgs/QuaternionStamped |
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | message_generation | |
1 | roslib | |
1 | message_runtime | |
1 | catkin | |
2 | roscpp | |
2 | std_msgs | |
2 | sensor_msgs | |
2 | geometry_msgs | |
1 | uavcan_msgs | |
2 | visualization_msgs | |
0 | geographiclib_conversions | |
3 | tf2 | |
3 | tf2_ros |
System Dependencies
Name |
---|
yaml-cpp |
Dependant Packages
Launch files
- launch/gazebo.launch
-
- vehicle [default: standard_vtol] — [standard_vtol, iris]
- fcu_url [default: udp://:14540@127.0.0.1:14557] — [udp://:14560@127.0.0.1:14558]
- gui [default: true]
- launch/reverse_mixer.launch
- launch/uavcan_communicator.launch
-
- partial_cyphal [default: false] — [true, false]
- launch/inno_sim.launch
- launch/hitl.launch
-
- vehicle [default: innopolis_vtol] — [innopolis_vtol, iris]
- airframe [default: inno_standard_vtol] — [inno_standard_vtol, babyshark_standard_vtol, iris]
- dynamics [default: inno_vtol] — [inno_vtol, flightgoggles_multicopter]
- run_rviz [default: false] — [true, false]
- run_inno_sim_bridge [default: false] — [true, false]
- run_cyphal_communicator [default: false] — [true, false]
- run_dronecan_communicator [default: false] — [true, false]
- launch/sitl.launch
-
- vehicle [default: innopolis_vtol] — [innopolis_vtol, iris]
- airframe [default: inno_standard_vtol] — [inno_standard_vtol, babyshark_standard_vtol, iris]
- dynamics [default: inno_vtol] — [inno_vtol, flightgoggles_multicopter]
- run_rviz [default: false] — [true, false]
- run_inno_sim_bridge [default: true] — [true, false]
- run_sitl_flight_stack [default: true] — [true, false]
- launch/flight_goggle_sitl.launch
-
- vehicle [default: iris] — [standard_vtol, iris]
- run_rviz [default: false] — [true, false]
- sitl_instead_of_hitl [default: true] — [true means sitl, false means true hitl]
- launch/dynamics.launch
-
- vehicle [default: innopolis_vtol] — [innopolis_vtol, iris]
- airframe [default: inno_standard_vtol] — [inno_standard_vtol, babyshark_standard_vtol, iris]
- dynamics [default: inno_vtol] — [inno_vtol, flightgoggles_multicopter]
- run_rviz [default: false] — [true, false]
- run_sitl_flight_stack [default: true] — [true means sitl, false means do nothing]
- run_sitl_communicator [default: false] — [true means run mavlink communicator, false means do nothing]
- run_hitl_communicator [default: false] — [true means run uavcan communicator, false means do nothing]
- run_inno_sim_bridge [default: true] — [true, false]
- run_cyphal_communicator [default: false] — [true, false]
- run_dronecan_communicator [default: false] — [true, false]
- launch/load_parameters.launch
- launch/rviz.launch