https://github.com/kumarrobotics/mrsl_quadrotor

https://github.com/kumarrobotics/mrsl_quadrotor

gazebo-plugins quadrotor ros simulation

Last synced: 7 days ago
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• Host: GitHub
• URL: https://github.com/kumarrobotics/mrsl_quadrotor
• Owner: KumarRobotics
• License: bsd-3-clause
• Created: 2015-01-07T22:45:14.000Z (almost 10 years ago)
• Default Branch: master
• Last Pushed: 2022-06-23T20:32:58.000Z (over 2 years ago)
• Last Synced: 2024-11-01T07:52:15.688Z (13 days ago)
• Topics: gazebo-plugins, quadrotor, ros, simulation
• Language: C++
• Size: 88.9 MB
• Stars: 93
• Watchers: 49
• Forks: 29
• Open Issues: 2
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
MRSL Quadrotor Simulator

=============

Package of Gazebo quadrotor simulator. Latest version works for Gazebo > 7.0.

User can easily set up the simulation environments and the quadrotor platform using sensors provided in this package.

Stacks include:

  - `mrsl_models`: all the CAD models

  - `mrsl_quadrotor_description`: all the `urdf` and world config files

  - `mrsl_quadrotor_launch`: example launch files

  - `mrsl_quadrotor_simulator`: quadrotor dynamics simulator

  - `mrsl_quadrotor_utils`: ros utils

  - `mrsl_mobile_object`: gazebo mobile obtacle plugin

  - `velodyne_simulator`: gazebo velodyne plugin

Check each package for more details.

### Requirements

Requirements

 - `ros` (indigo+)

 - `gazebo` (2.2+)

 - `gazebo_ros` (2.2+)

 - `quadrotor_control` [KumarRobotics](https://github.com/KumarRobotics/quadrotor_control)

### List of Components

  Robot Frame          |  Sensor | World | Platform Examples

  :------------------- |:-----   | :-----| :-------

  Hummingbird          |  empty  | empty | hummingbird

  Pelican              |  empty  | empty | pelican

  |                    |  hokuyo | levine| pelican\_laser

  FLA Platform         |  stereo | skir  | pelican\_laser\_rgbd

  |                    |  hokuyo | wg    | pelican\_laser\_rotate

  |                    |velodyne | pillars| pelican\_rgbd

  |                    | laser\_beam | D60| pelican\_velodyne

### Test Example

Using the example launch file in the repo

```

roslaunch mrsl_quadrotor_launch gazebo.launch world:=levine

roslaunch mrsl_quadrotor_launch spawn.launch mav_type:=pelican mav_name:=juliett

```

### Dragon DDK:

Sensors: Downward facing camera, stereo, rgbd, imu.

Dependency: Clone and compile `https://github.com/ATLFlight/qflight_descriptions`

Note: The controller launch file depends on `quadrotor_control` package which will be soon released (currently closed source)

- `quadrotor_control` [KumarRobotics](https://github.com/KumarRobotics/quadrotor_control)

```

roslaunch mrsl_quadrotor_launch gazebo.launch world:=empty

roslaunch mrsl_quadrotor_launch spawn.launch mav_type:=dragon_ddk mav_name:=ddk

roslaunch mrsl_quadrotor_launch controller.launch mav_type:=dragon_ddk mav_name:=ddk mass:=0.25 odom_topic:=ground_truth/odom

rosrun rqt_mav_manager rqt_mav_manager

```

### Falcon4:

Simulating the Ouster OS1 64 beam lidar requires using a [fork of the ouster_example code](https://github.com/wilselby/ouster_example)

and installing the hector gazebo plugins

```

sudo apt install ros-melodic-hector-gazebo-plugins

```

 a. Sensor: OVC3, Two OVC3 side Cams, downward facing Lidar

```

roslaunch mrsl_quadrotor_launch gazebo.launch world:=forest2

roslaunch mrsl_quadrotor_launch spawn.launch mav_type:=falcon4 mav_name:=falcon4

roslaunch mrsl_quadrotor_launch falcon4_control.launch mav_type:=falcon4 mav_name:=falcon4 odom_topic:=ground_truth/odom

rosrun rqt_mav_manager rqt_mav_manager

```

 b. Sensor: Ouster OS1 64 x 512, OVC3, Two OVC3 side Cams, downward facing Lidar

```

roslaunch mrsl_quadrotor_launch gazebo.launch world:=forest2

roslaunch mrsl_quadrotor_launch spawn.launch mav_type:=falcon4_os1_64_512 mav_name:=falcon4_os1

roslaunch mrsl_quadrotor_launch falcon4_os1_control.launch mav_type:=falcon4_os1_64_512 mav_name:=falcon4_os1 odom_topic:=ground_truth/odom

rosrun rqt_mav_manager rqt_mav_manager

```

 c. Sensor: Ouster OS1 16 x 256, OVC3, Two OVC3 side Cams, downward facing Lidar

```

roslaunch mrsl_quadrotor_launch gazebo.launch world:=forest2

roslaunch mrsl_quadrotor_launch spawn.launch mav_type:=falcon4_os1_16_256 mav_name:=falcon4_os1

roslaunch mrsl_quadrotor_launch falcon4_os1_control.launch mav_type:=falcon4_os1_16_256 mav_name:=falcon4_os1 odom_topic:=ground_truth/odom

rosrun rqt_mav_manager rqt_mav_manager

```

### Samples

  hummingbird | hummingbird\_rgbd | pelican\_laser\_rgbd | Falcon4\_OS1 | mobile object

  :---------- | :-------------- | :------------------ | :----------- | :-----------

   |  |  |  | 

  levine | pillars | D60 | forest

  :---------- | :-------------- | :----------- | :-----------

   |  |  |