as2_platform_multirotor_simulator
Lightweight simulator
README
as2_platform_multirotor_simulator
Aerostack2 lightweight simulator for multirotor drones, based on multirotor_simulator.
API
For documentation, use Doxygen. The documentation files have to be built locally:
Install doxygen:
sudo apt install doxygen
Run doxygen in the root folder
as2_platform_multirotor_simulator/
by:doxygen Doxyfile
Open the documentation in by opening
as2_platform_multirotor_simulator/doxygen/html/index.html
Building the package
Go to the root folder of the workspace and run:
colcon build --packages-select as2_platform_multirotor_simulator
Running colcon test
Run colcon test in by:
colcon test --packages-select as2_platform_multirotor_simulator
Optional, add verbosity with --event-handlers console_direct+
Launching the simulator
Configuration files are located in as2_platform_multirotor_simulator/config/
:
control_modes.yaml
: available input control modes for the aerostack2 aerial platform.platform_config_file.yaml
: ROS 2 configuration, with tf names, frequencies and aerostack2 parameters.simulation_config.yaml
: simulation configuration, with frequency and environment parameters.uav_configuav_config.yaml
: UAV configuration, with the drone’s physical parameters and controller configuration.world_config.yaml
: world configuration, as parameters override for each drone namespace in the configuration file.
Launcher parameters order
Default configuration file in
as2_platform_multirotor_simulator/config/
folder.Custom configuration file in the launch command (e.g.
platform_config_file:=path/to/file.yaml
).Custom parameters in the launch command (e.g.
frequency:=100
).Custom world configuration in the launch command (e.g.
world_config:=path/to/file.yaml
), for the world launcher.
Examples:
ros2 launch as2_platform_multirotor_simulator as2_platform_multirotor_simulator.launch.py namespace:=drone0
ros2 launch as2_platform_multirotor_simulator as2_platform_multirotor_simulator_world.launch.launch.py namespace:=drone0 world_config:=config/world_config.yaml
References
M. Fernandez-Cortizas, M. Molina, P. Arias-Perez, R. Perez-Segui, D. Perez-Saura, and P. Campoy, 2023, “Aerostack2: A software framework for developing multi-robot aerial systems”, ArXiv DOI 2303.18237.