README

gazebo_assets

Colletion of AS2 Gazebo assets and scripts.

INDEX

HOW TO RUN
OPTIONS
- ENV VARS
- CONFIG FILE
MORE OPTIONS
EXAMPLES
ADVANCED USAGE

HOW TO RUN: Basic usage

Previously setting AS2 environment, simply run:

${AEROSTACK2_PATH}/as2_simulation_assets/gazebo_assets/scripts/default_run.sh

or using a config file (see config files) :

${AEROSTACK2_PATH}/as2_simulation_assets/gazebo_assets/scripts/default_run.sh <config-file>

This will run for you gzserver, spawn an iris model, compile and run PX4 SITL rtps and open gzclient.

OPTIONS

Inital configuration aspects as world, drone model, drone pose or adding several drones can be done setting environment variables or using a config file.

ENV VARS

Previously set needed environment variables before launching the script.

World
```
export PX4_SITL_WORLD=<path-to-world>
```
Drone model
```
export UAV_MODEL=<model-name>
```

Drone pose

export UAV_X=<float>  # meters
export UAV_Y=<float>  # meters
export UAV_Z=<float>  # meters
export UAV_YAW=<float>  # radians

CONFIG FILE

Using a config file lets you to set the simulation environment. You can select a world (or none) and attach to it a number of desired drones with desired model and position. Please pay atention to teh format file, otherwise it may fail.

Example of a config file:

{
    "world": "${AEROSTACK2_PATH}/as2_simulation_assets/gazebo_assets/worlds/frames.world",
    "0": {
        "model": "iris_fpv",
        "pose": [ 0.0, 0.0, 0.0, 1.57 ]
    },
    "1": {
        "model": "iris",
        "pose": [ 3.0, 0.0, 0.0, 1.57 ]
    }
}

MORE OPTIONS

Use custom models in world/drone:

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:<custom-model-path>

Run simulation without gzclient (TBD):
```
export HEADLESS=1
```
Follow drone mode (TBD):
```
export PX4_FOLLOW_MODE=1
```

Change PX4 GPS origin:

export PX4_HOME_LAT=28.143971  # degrees
export PX4_HOME_LON=-16.503213  # degrees
export PX4_HOME_ALT=0  # meters

Change PX4 vehicle (TBD):
```
export VEHICLE=iris  # typhoon
```
Verbose mode:
```
export VERBOSE_SIM=1
```

EXAMPLES

Several examples can be found on test folder.

ADVANCED USAGE

If you want to build your own PX4 first, you can also check test_run_sitl script.