hector_quadrotor_gazebo_simulation

hector_quadrotor for UAVs swarm simulation

❗❗❗ This repository is now moved here. Pls do git clone -b hector_quadrotor https://github.com/Marslanali/cpp-uav-simulations.git in your workspace.

complining the package

In a new terminal

mkdir -p ~/catkin_ws/src

cd catkin_ws/src

git clone https://github.com/Marslanali/quadrotor-simulation
 
catkin_make

Simulating UAV in Gazebo

Load the Gazebo simulator in separate terminals using the following commands:

roslaunch hector_quadrotor_demo uav_outdoor_flight_gazebo.launch

In a new terminal

rosservice call /enable_motors "enable: true"

Simulation screenshots

Fig. 1. uav in empty gazebo world

Publishing cmd vel:

rostopic pub -r 10 /cmd_vel geometry_msgs/Twist  '{linear:  {x: 0, y: 0.0, z: 1.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'

Running keyboard teleop:

Start the teleop node:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Usage

Reading from the keyboard  and Publishing to Twist!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

For Holonomic mode (strafing), hold down the shift key:
---------------------------
   U    I    O
   J    K    L
   M    <    >

t : up (+z)
b : down (-z)

anything else : stop

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%

CTRL-C to quit

Getting RGB image to display

rosrun image_view image_view image:=/front_cam/camera/image

Simulating Swarm of UAV in Gazebo

Load the Gazebo simulator in separate terminals using the following commands:

roslaunch hector_quadrotor_demo uav_swarm_outdoor_flight_gazebo.launch

Simulation screenshots

Fig. 1. multiple uavs in gazebo

Enabling motors

cd ~/quadrotor-simulation
chmod +x motors_enables_uav_swarm.sh
./motors_enables_uav_swarm.sh

controling uav1 by publishing /uav1/cmd_vel:

rostopic pub -r 10 /uav1/cmd_vel geometry_msgs/Twist  '{linear:  {x: 0, y: 0.0, z: 1.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'

Running keyboard teleop for swarm of uav

cd ~/quadrotor-simulation/hector_quadrotor/teleop_twist_keyboard
rosrun teleop_twist_keyboard teleop_twist_keyboard.py