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 2020-08-27
Dev Status DEVELOPED
CI status Continuous Integration : 0 / 0
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Software-in-the-loop (SIL) simulator for the ROSflight firmware

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 running rosflight_io
  • ROS_port: port of rosflight_io only needs to change if simulating multiple agents

  • gyro_stdev: default: 0.13

  • gyro_bias_range: default: 0.15

  • gyro_bias_walk_stdev: default: 0.001

  • acc_stdev: default: 1.15

  • acc_bias_range: default: 0.15

  • acc_bias_walk_stdev: default: 0.001

  • mag_stdev: default: 1.15

  • mag_bias_range: default: 0.15

  • mag_bias_walk_stdev: default: 0.001

  • baro_stdev: default: 1.15

  • baro_bias_range: default: 0.15

  • baro_bias_walk_stdev: default: 0.001

  • airspeed_stdev: default: 1.15

  • airspeed_bias_range: default: 0.15

  • airspeed_bias_walk_stdev: default: 0.001

  • sonar_stdev: default: 1.15

  • sonar_min_range: (m) default: 0.25

  • sonar_max_range: (m) default: 8.0

  • imu_update_rate: (Hz) default: 1000.0

  • inclination: (rad) default: 1.14316156541

  • declination: (rad) default: 0.198584539676

  • origin_altitude: (m) default: 1387.0

  • origin_latitude: (deg) default: 40.2463724

  • origin_longitude: (deg) default: -111.6474138.0

  • horizontal_gps_stdev: (m) default: 3.0

  • vertical_gps_stdev: (m) default: 1.0

  • gps_velocity_stdev: (m/s) default: 0.1

CHANGELOG

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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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/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/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/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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rosflight_sim at answers.ros.org

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 2020-08-27
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Software-in-the-loop (SIL) simulator for the ROSflight firmware

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 running rosflight_io
  • ROS_port: port of rosflight_io only needs to change if simulating multiple agents

  • gyro_stdev: default: 0.13

  • gyro_bias_range: default: 0.15

  • gyro_bias_walk_stdev: default: 0.001

  • acc_stdev: default: 1.15

  • acc_bias_range: default: 0.15

  • acc_bias_walk_stdev: default: 0.001

  • mag_stdev: default: 1.15

  • mag_bias_range: default: 0.15

  • mag_bias_walk_stdev: default: 0.001

  • baro_stdev: default: 1.15

  • baro_bias_range: default: 0.15

  • baro_bias_walk_stdev: default: 0.001

  • airspeed_stdev: default: 1.15

  • airspeed_bias_range: default: 0.15

  • airspeed_bias_walk_stdev: default: 0.001

  • sonar_stdev: default: 1.15

  • sonar_min_range: (m) default: 0.25

  • sonar_max_range: (m) default: 8.0

  • imu_update_rate: (Hz) default: 1000.0

  • inclination: (rad) default: 1.14316156541

  • declination: (rad) default: 0.198584539676

  • origin_altitude: (m) default: 1387.0

  • origin_latitude: (deg) default: 40.2463724

  • origin_longitude: (deg) default: -111.6474138.0

  • horizontal_gps_stdev: (m) default: 3.0

  • vertical_gps_stdev: (m) default: 1.0

  • gps_velocity_stdev: (m/s) default: 0.1

CHANGELOG

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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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/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/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/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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rosflight_sim at answers.ros.org

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 2020-08-27
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Software-in-the-loop (SIL) simulator for the ROSflight firmware

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 running rosflight_io
  • ROS_port: port of rosflight_io only needs to change if simulating multiple agents

  • gyro_stdev: default: 0.13

  • gyro_bias_range: default: 0.15

  • gyro_bias_walk_stdev: default: 0.001

  • acc_stdev: default: 1.15

  • acc_bias_range: default: 0.15

  • acc_bias_walk_stdev: default: 0.001

  • mag_stdev: default: 1.15

  • mag_bias_range: default: 0.15

  • mag_bias_walk_stdev: default: 0.001

  • baro_stdev: default: 1.15

  • baro_bias_range: default: 0.15

  • baro_bias_walk_stdev: default: 0.001

  • airspeed_stdev: default: 1.15

  • airspeed_bias_range: default: 0.15

  • airspeed_bias_walk_stdev: default: 0.001

  • sonar_stdev: default: 1.15

  • sonar_min_range: (m) default: 0.25

  • sonar_max_range: (m) default: 8.0

  • imu_update_rate: (Hz) default: 1000.0

  • inclination: (rad) default: 1.14316156541

  • declination: (rad) default: 0.198584539676

  • origin_altitude: (m) default: 1387.0

  • origin_latitude: (deg) default: 40.2463724

  • origin_longitude: (deg) default: -111.6474138.0

  • horizontal_gps_stdev: (m) default: 3.0

  • vertical_gps_stdev: (m) default: 1.0

  • gps_velocity_stdev: (m/s) default: 0.1

CHANGELOG

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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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/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/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/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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rosflight_sim at answers.ros.org