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rosflight_sim package from rosflight reporosflight rosflight_firmware rosflight_msgs rosflight_pkgs rosflight_sim rosflight_utils |
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Package Summary
| Tags | No category tags. |
| Version | 1.3.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/rosflight/rosflight.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-04-14 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- James Jackson
Authors
- James Jackson
- Gary Ellingson
- Daniel Koch
ROSflight Sim Package
This package runs the ROSflight firmware as a gazebo plugin. It simulates all the connected sensors and communicates the same way that the hardware does in real life.
Parameters
Parameters should be set in the same namespace as specified in the xacro file that declares the
plugin. If you are unsure what this is, try running gazebo with the --verbose setting on and look
for a message that looks like loading parameters from <namespace> ns
-
gazebo_host: host name or IP address of the machine running the gazebo instance -
gazebo_port: port of rosflight_sim plugin. (default =14525) This only needs to change if you are trying to simulate multiple agents -
ROS_host: host name or IP address of the machine runningrosflight_io ROS_port: port ofrosflight_ioonly needs to change if simulating multiple agentsgyro_stdev: default:0.13gyro_bias_range: default:0.15gyro_bias_walk_stdev: default:0.001acc_stdev: default:1.15acc_bias_range: default:0.15acc_bias_walk_stdev: default:0.001mag_stdev: default:1.15mag_bias_range: default:0.15mag_bias_walk_stdev: default:0.001baro_stdev: default:1.15baro_bias_range: default:0.15baro_bias_walk_stdev: default:0.001airspeed_stdev: default:1.15airspeed_bias_range: default:0.15airspeed_bias_walk_stdev: default:0.001sonar_stdev: default:1.15sonar_min_range: (m) default:0.25sonar_max_range: (m) default:8.0imu_update_rate: (Hz) default:1000.0inclination: (rad) default:1.14316156541declination: (rad) default:0.198584539676origin_altitude: (m) default:1387.0origin_latitude: (deg) default:40.2463724origin_longitude: (deg) default:-111.6474138.0horizontal_gps_stdev: (m) default:3.0vertical_gps_stdev: (m) default:1.0gps_velocity_stdev: (m/s) default:0.1
Changelog for package rosflight_sim
1.3.1 (2020-03-27)
1.3.0 (2020-03-19)
- Fixes for multiple simulators running simultaneously
- Battery monitor support
- Hard fault handling support
- Contributors: BillThePlatypus, Cameron McQuinn, Daniel Koch, Jacob Willis, James Jackson, Parker Lusk, Trey Henrichsen
1.0.0 (2018-03-13)
- Update firmware to v1.1.0
- improved acceleration calculation in simulation
- some tweaks to make multi-agent possible
- fixed some issues in SIL
- working SIL multirotor
- Cleaned up simulation launch and parameter files
- updated board layer and python joy nodes
- fixed a memory file write bug
- able to arm, and disarm in simulation, IMU noise activated with motor spinning
- fixed timestamping issue with simulator (need to test on hardware)
- updated firmware
- Got UDP comms working with SIL in Gazebo
- launch files, xacro files, and aircraft parameters for generic multirotor and fixedwing aircraft are added. They currently use a .dae that comes with gazebo, which might be confusing. The best solution would be to create our own and include them here
- added some noise with no bias
- added sim, not tested, lacks udp and sensor noise
- Contributors: Daniel Koch, Gary Ellingson, James Jackson, Skyler Tolman, superjax08@gmail.com
Wiki Tutorials
Source Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | catkin | |
| 1 | gazebo_plugins | |
| 1 | gazebo_ros | |
| 2 | geometry_msgs | |
| 2 | roscpp | |
| 1 | rosflight_firmware | |
| 1 | rosflight_msgs |
System Dependencies
Dependant Packages
Launch files
- launch/base.launch
- base.launch - Author: James Jackson, Daniel Koch - BYU MAGICC Lab - 2017
-
- mav_name
- color [default: White]
- x [default: 0]
- y [default: 0]
- z [default: 0.1]
- yaw [default: 0]
- paused [default: false]
- gui [default: true]
- verbose [default: false]
- debug [default: false]
- xacro_file [default: $(find rosflight_sim)/xacro/$(arg mav_name).urdf.xacro]
- param_file [default: $(find rosflight_sim)/params/$(arg mav_name).yaml]
- world_file [default: worlds/empty.world]
- launch/spawn_mav.launch
-
- mav_name [default: vehicle]
- model [default: $(find rosflight_sim)/xacro/fixedwing.xacro]
- tf_prefix [default: $(optenv ROS_NAMESPACE)]
- x [default: 0.0]
- y [default: 0.0]
- yaw [default: 0.0]
- z [default: 1.0]
- enable_logging [default: false]
- enable_ground_truth [default: true]
- log_file [default: $(arg mav_name)]
- enable_wind [default: true]
- color [default: Black]
- robot_namespace [default: $(arg mav_name)]
- gazebo_namespace [default: ]
- launch/multirotor.launch
- Launches a multirotor SIL vehicle in Gazebo
-
- color [default: White]
- x [default: 0]
- y [default: 0]
- z [default: 0.1]
- yaw [default: 0]
- paused [default: false]
- gui [default: true]
- verbose [default: false]
- debug [default: false]
- launch/fixedwing.launch
- Launches a fixed-wing SIL vehicle in Gazebo
-
- color [default: White]
- x [default: 0]
- y [default: 0]
- z [default: 0.1]
- yaw [default: 0]
- paused [default: false]
- gui [default: true]
- verbose [default: false]
- debug [default: false]
Messages
Services
Plugins
Recent questions tagged rosflight_sim at answers.ros.org
|
|
rosflight_sim package from rosflight reporosflight rosflight_firmware rosflight_msgs rosflight_pkgs rosflight_sim rosflight_utils |
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.3.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/rosflight/rosflight.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-04-14 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- James Jackson
Authors
- James Jackson
- Gary Ellingson
- Daniel Koch
ROSflight Sim Package
This package runs the ROSflight firmware as a gazebo plugin. It simulates all the connected sensors and communicates the same way that the hardware does in real life.
Parameters
Parameters should be set in the same namespace as specified in the xacro file that declares the
plugin. If you are unsure what this is, try running gazebo with the --verbose setting on and look
for a message that looks like loading parameters from <namespace> ns
-
gazebo_host: host name or IP address of the machine running the gazebo instance -
gazebo_port: port of rosflight_sim plugin. (default =14525) This only needs to change if you are trying to simulate multiple agents -
ROS_host: host name or IP address of the machine runningrosflight_io ROS_port: port ofrosflight_ioonly needs to change if simulating multiple agentsgyro_stdev: default:0.13gyro_bias_range: default:0.15gyro_bias_walk_stdev: default:0.001acc_stdev: default:1.15acc_bias_range: default:0.15acc_bias_walk_stdev: default:0.001mag_stdev: default:1.15mag_bias_range: default:0.15mag_bias_walk_stdev: default:0.001baro_stdev: default:1.15baro_bias_range: default:0.15baro_bias_walk_stdev: default:0.001airspeed_stdev: default:1.15airspeed_bias_range: default:0.15airspeed_bias_walk_stdev: default:0.001sonar_stdev: default:1.15sonar_min_range: (m) default:0.25sonar_max_range: (m) default:8.0imu_update_rate: (Hz) default:1000.0inclination: (rad) default:1.14316156541declination: (rad) default:0.198584539676origin_altitude: (m) default:1387.0origin_latitude: (deg) default:40.2463724origin_longitude: (deg) default:-111.6474138.0horizontal_gps_stdev: (m) default:3.0vertical_gps_stdev: (m) default:1.0gps_velocity_stdev: (m/s) default:0.1
Changelog for package rosflight_sim
1.3.1 (2020-03-27)
1.3.0 (2020-03-19)
- Fixes for multiple simulators running simultaneously
- Battery monitor support
- Hard fault handling support
- Contributors: BillThePlatypus, Cameron McQuinn, Daniel Koch, Jacob Willis, James Jackson, Parker Lusk, Trey Henrichsen
1.0.0 (2018-03-13)
- Update firmware to v1.1.0
- improved acceleration calculation in simulation
- some tweaks to make multi-agent possible
- fixed some issues in SIL
- working SIL multirotor
- Cleaned up simulation launch and parameter files
- updated board layer and python joy nodes
- fixed a memory file write bug
- able to arm, and disarm in simulation, IMU noise activated with motor spinning
- fixed timestamping issue with simulator (need to test on hardware)
- updated firmware
- Got UDP comms working with SIL in Gazebo
- launch files, xacro files, and aircraft parameters for generic multirotor and fixedwing aircraft are added. They currently use a .dae that comes with gazebo, which might be confusing. The best solution would be to create our own and include them here
- added some noise with no bias
- added sim, not tested, lacks udp and sensor noise
- Contributors: Daniel Koch, Gary Ellingson, James Jackson, Skyler Tolman, superjax08@gmail.com
Wiki Tutorials
Source Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | catkin | |
| 1 | gazebo_plugins | |
| 1 | gazebo_ros | |
| 2 | geometry_msgs | |
| 2 | roscpp | |
| 1 | rosflight_firmware | |
| 1 | rosflight_msgs |
System Dependencies
Dependant Packages
Launch files
- launch/base.launch
- base.launch - Author: James Jackson, Daniel Koch - BYU MAGICC Lab - 2017
-
- mav_name
- color [default: White]
- x [default: 0]
- y [default: 0]
- z [default: 0.1]
- yaw [default: 0]
- paused [default: false]
- gui [default: true]
- verbose [default: false]
- debug [default: false]
- xacro_file [default: $(find rosflight_sim)/xacro/$(arg mav_name).urdf.xacro]
- param_file [default: $(find rosflight_sim)/params/$(arg mav_name).yaml]
- world_file [default: worlds/empty.world]
- launch/spawn_mav.launch
-
- mav_name [default: vehicle]
- model [default: $(find rosflight_sim)/xacro/fixedwing.xacro]
- tf_prefix [default: $(optenv ROS_NAMESPACE)]
- x [default: 0.0]
- y [default: 0.0]
- yaw [default: 0.0]
- z [default: 1.0]
- enable_logging [default: false]
- enable_ground_truth [default: true]
- log_file [default: $(arg mav_name)]
- enable_wind [default: true]
- color [default: Black]
- robot_namespace [default: $(arg mav_name)]
- gazebo_namespace [default: ]
- launch/multirotor.launch
- Launches a multirotor SIL vehicle in Gazebo
-
- color [default: White]
- x [default: 0]
- y [default: 0]
- z [default: 0.1]
- yaw [default: 0]
- paused [default: false]
- gui [default: true]
- verbose [default: false]
- debug [default: false]
- launch/fixedwing.launch
- Launches a fixed-wing SIL vehicle in Gazebo
-
- color [default: White]
- x [default: 0]
- y [default: 0]
- z [default: 0.1]
- yaw [default: 0]
- paused [default: false]
- gui [default: true]
- verbose [default: false]
- debug [default: false]
Messages
Services
Plugins
Recent questions tagged rosflight_sim at answers.ros.org
|
|
rosflight_sim package from rosflight reporosflight rosflight_firmware rosflight_msgs rosflight_pkgs rosflight_sim rosflight_utils |
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.3.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/rosflight/rosflight.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-04-14 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- James Jackson
Authors
- James Jackson
- Gary Ellingson
- Daniel Koch
ROSflight Sim Package
This package runs the ROSflight firmware as a gazebo plugin. It simulates all the connected sensors and communicates the same way that the hardware does in real life.
Parameters
Parameters should be set in the same namespace as specified in the xacro file that declares the
plugin. If you are unsure what this is, try running gazebo with the --verbose setting on and look
for a message that looks like loading parameters from <namespace> ns
-
gazebo_host: host name or IP address of the machine running the gazebo instance -
gazebo_port: port of rosflight_sim plugin. (default =14525) This only needs to change if you are trying to simulate multiple agents -
ROS_host: host name or IP address of the machine runningrosflight_io ROS_port: port ofrosflight_ioonly needs to change if simulating multiple agentsgyro_stdev: default:0.13gyro_bias_range: default:0.15gyro_bias_walk_stdev: default:0.001acc_stdev: default:1.15acc_bias_range: default:0.15acc_bias_walk_stdev: default:0.001mag_stdev: default:1.15mag_bias_range: default:0.15mag_bias_walk_stdev: default:0.001baro_stdev: default:1.15baro_bias_range: default:0.15baro_bias_walk_stdev: default:0.001airspeed_stdev: default:1.15airspeed_bias_range: default:0.15airspeed_bias_walk_stdev: default:0.001sonar_stdev: default:1.15sonar_min_range: (m) default:0.25sonar_max_range: (m) default:8.0imu_update_rate: (Hz) default:1000.0inclination: (rad) default:1.14316156541declination: (rad) default:0.198584539676origin_altitude: (m) default:1387.0origin_latitude: (deg) default:40.2463724origin_longitude: (deg) default:-111.6474138.0horizontal_gps_stdev: (m) default:3.0vertical_gps_stdev: (m) default:1.0gps_velocity_stdev: (m/s) default:0.1
Changelog for package rosflight_sim
1.3.1 (2020-03-27)
1.3.0 (2020-03-19)
- Fixes for multiple simulators running simultaneously
- Battery monitor support
- Hard fault handling support
- Contributors: BillThePlatypus, Cameron McQuinn, Daniel Koch, Jacob Willis, James Jackson, Parker Lusk, Trey Henrichsen
1.0.0 (2018-03-13)
- Update firmware to v1.1.0
- improved acceleration calculation in simulation
- some tweaks to make multi-agent possible
- fixed some issues in SIL
- working SIL multirotor
- Cleaned up simulation launch and parameter files
- updated board layer and python joy nodes
- fixed a memory file write bug
- able to arm, and disarm in simulation, IMU noise activated with motor spinning
- fixed timestamping issue with simulator (need to test on hardware)
- updated firmware
- Got UDP comms working with SIL in Gazebo
- launch files, xacro files, and aircraft parameters for generic multirotor and fixedwing aircraft are added. They currently use a .dae that comes with gazebo, which might be confusing. The best solution would be to create our own and include them here
- added some noise with no bias
- added sim, not tested, lacks udp and sensor noise
- Contributors: Daniel Koch, Gary Ellingson, James Jackson, Skyler Tolman, superjax08@gmail.com
Wiki Tutorials
Source Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | catkin | |
| 1 | gazebo_plugins | |
| 1 | gazebo_ros | |
| 2 | geometry_msgs | |
| 2 | roscpp | |
| 1 | rosflight_firmware | |
| 1 | rosflight_msgs |
System Dependencies
Dependant Packages
Launch files
- launch/base.launch
- base.launch - Author: James Jackson, Daniel Koch - BYU MAGICC Lab - 2017
-
- mav_name
- color [default: White]
- x [default: 0]
- y [default: 0]
- z [default: 0.1]
- yaw [default: 0]
- paused [default: false]
- gui [default: true]
- verbose [default: false]
- debug [default: false]
- xacro_file [default: $(find rosflight_sim)/xacro/$(arg mav_name).urdf.xacro]
- param_file [default: $(find rosflight_sim)/params/$(arg mav_name).yaml]
- world_file [default: worlds/empty.world]
- launch/spawn_mav.launch
-
- mav_name [default: vehicle]
- model [default: $(find rosflight_sim)/xacro/fixedwing.xacro]
- tf_prefix [default: $(optenv ROS_NAMESPACE)]
- x [default: 0.0]
- y [default: 0.0]
- yaw [default: 0.0]
- z [default: 1.0]
- enable_logging [default: false]
- enable_ground_truth [default: true]
- log_file [default: $(arg mav_name)]
- enable_wind [default: true]
- color [default: Black]
- robot_namespace [default: $(arg mav_name)]
- gazebo_namespace [default: ]
- launch/multirotor.launch
- Launches a multirotor SIL vehicle in Gazebo
-
- color [default: White]
- x [default: 0]
- y [default: 0]
- z [default: 0.1]
- yaw [default: 0]
- paused [default: false]
- gui [default: true]
- verbose [default: false]
- debug [default: false]
- launch/fixedwing.launch
- Launches a fixed-wing SIL vehicle in Gazebo
-
- color [default: White]
- x [default: 0]
- y [default: 0]
- z [default: 0.1]
- yaw [default: 0]
- paused [default: false]
- gui [default: true]
- verbose [default: false]
- debug [default: false]