https://github.com/jkleiber/ardrone_simulator_gazebo7
An edited tum_ardrone_simulator that works with gazebo7 + ar_track_alvar gazebo models and world
https://github.com/jkleiber/ardrone_simulator_gazebo7
ardrone simulator
Last synced: about 1 year ago
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An edited tum_ardrone_simulator that works with gazebo7 + ar_track_alvar gazebo models and world
- Host: GitHub
- URL: https://github.com/jkleiber/ardrone_simulator_gazebo7
- Owner: jkleiber
- Created: 2019-02-17T19:56:34.000Z (over 7 years ago)
- Default Branch: master
- Last Pushed: 2020-08-12T16:11:38.000Z (almost 6 years ago)
- Last Synced: 2025-04-07T06:36:52.482Z (about 1 year ago)
- Topics: ardrone, simulator
- Language: C++
- Size: 774 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
tum_simulator on ROS Kinetic and Gazebo 7
=============
These packages are used to simulate the Parrot AR.Drone 2.0 in a ROS Kinetic environment using the Gazebo simulator. Altogether, there are 4 packages. Their functions are descript as below:
1. cvg_sim_gazebo: contains object models, sensor models, quadrocopter models, flying environment information and individual launch files for each object and a pure environment without any other objects.
2. cvg_sim_gazebo_plugins: contains gazebo plugins for the quadrocopter model. quadrotor_simple_controller is used to control the robot motion and deliver navigation information, such as: /ardrone/navdata. Others are plugins for sensors in the quadcopter, such as: IMU sensor, sonar sensor, GPS sensor.
3. message_to_tf: is a package used to create a ros node, which transfers the ros topic /ground_truth/state to a /tf topic.
4. cvg_sim_msgs: contains message forms for the simulator.
Some packages are based on the tu-darmstadt-ros-pkg by Stefan Kohlbrecher, TU Darmstadt.
This package depends on ardrone_autonomy package and gazebo7 so install these first.
How to install the simulator:
1. Install gazebo7 (comes with ROS Kinetic) and the ardrone_autonomy package (two options listed below)
a) Installing ardrone_autonomy as a binary *(recommended)*
```
sudo apt-get install ros-kinetic-ardrone-autonomy
```
b) Installing ardrone_autonomy from source in your workspace
```
$ cd ~/catkin_ws/src
$ git clone https://github.com/AutonomyLab/ardrone_autonomy.git -b indigo-devel
$ cd ~/catkin_ws
$ rosdep install --from-paths src -i
$ catkin_make
```
Of course, this can be found on the ardrone_autonomy documentation website: https://ardrone-autonomy.readthedocs.io/en/latest/installation.html
2. Navigate to your workspace's src folder
```
cd ~/catkin_ws/src/
```
3. Clone this repository
```
git clone https://github.com/jkleiber/ardrone_simulator_gazebo7
```
4. Build the simulator (and any other files in your workspace)
```
cd ..
catkin_make
```
4. Source the environment
```
source devel/setup.bash
```
How to run a simulation:
1. Run a simulation by executing a launch file in cvg_sim_gazebo package:
```
roslaunch cvg_sim_gazebo ardrone_testworld.launch
```
Alternatively, include the above launch file in one of your own custom launch files, like so:
```
```
How to run a simulation using ar_track_alvar tags:
1. Move the contents of ~/ardrone_simulator/src/cvg_sim_gazebo/meshes/ar_track_alvar_tags/ to ~/.gazebo/models
2. Run simulation
```
roslaunch cvg_sim_gazebo ar_tag.launch
```
## Debugging
If the drone flies upward forever, try installing these hector quadrotor packages:
```
sudo apt-get install ros-kinetic-hector-gazebo ros-kinetic-hector-sensors-gazebo ros-kinetic-hector-xacro-tools
```