RM Aerial Simulation

This Repo utilised the work done by Intelligent Quads

This Repo is specifically designed to work with the Ardupilot control system, and utilizes the ardupilot gazebo plugin to allow the ardupilot control software to interface and control the model drone in gazebo.

Dependencies [Ubuntu 20.04]

Take a look at these tutorials to setup ardupilot, gazebo and the ardupilot gazebo plugin.

1. Install ROS and Setup Workspace

• I named my workspace as ardupilot_ws, so do watch out for errors if any directory is not found.
• Clone this repository for step 4 instead.

2. Installing Gazebo and ArduPilot Plugin

3. Installing Ardupilot and MAVProxy

4. Installing QGroundControl

Installing x-term is recommended as it allows the ardupilot sitl interface to run in a terminal that will cleanly close when closing you sitl instance

sudo apt install xterm

Drone Simulations

This repo contains a couple different gazebo worlds containing various ardupilot drone configurations.

• rmuc.world - a gazebo world containing the DJI 2021 RoboMaster Arena

Running Drone Simulations

To launch aerial simulation in RMUC world, run the following

roslaunch aerial rmuc.launch

In another terminal, launch the ardupilot instance by running

cd ~/ardupilot/ArduCopter/ && sim_vehicle.py -v ArduCopter -f gazebo-iris --console

If sim_vehicle.py is not found, try

cd ~/ardupilot/Tools/autotest && python3 sim_vehicle.py -v ArduCopter -f gazebo-iris --console

For more information, take a look at the corresponding tutorials here

Others

drone1-12

This repo hosts a few helpful gazebo models you can use to build upon. Included in this repo are 12 drones which contain the ardupilot plugin. Each ardupilot plugin is staggered such that you can simulate multiple unique aircraft using ardupilot's SITL. For more information please see the iq_tutorial on ardupilot drone swarming

drone_with_lidar

Example drone that has a 2d lidar attached. The lidar plugin publishes a sensor_msgs/LaserScan ROS msg containing return data.

topics

/spur/laser/scan

drone_with_sonar

Example drone with 4 sonars attached in each direction. Each sonar publishes a sensor_msgs/Range ROS msg containing range data.

topics

/drone1/sensor/sonar/back
/drone1/sensor/sonar/front
/drone1/sensor/sonar/left
/drone1/sensor/sonar/right

drone_with_camera

Example drone with a forward facing camera. The camera published a sensor_msgs/Image ROS msg which can be used to view or do image processing on.