| Simulation build status |
|---|
| ROS Package | 18.04 Bionic | 20.04 Focal | Description |
|---|---|---|---|
| mrs_simulation | Support for spawning vehicles into Gazebo simulation, where user can select from multiple UAV platforms | ||
| mrs_gazebo_common_resources | MRS Gazebo files: worlds, models and plugins | ||
| px4 | PX4 Pixhawk firmware | ||
| mavlink_sitl_gazebo | PX4 Gazebo files (worlds, models and plugins) for SITL with the Pixhawk |
Required OS is Ubuntu 18.04 LTS 64-bit or its flavors that can install ROS Melodic. The suggested variant of OS installation is dual boot instead of virtualization that can be slow and can not handle well the simulation GUI. We use Gitman to manage the repository submodules. The repository are supposed to be compiled by catkin tools.
| Model | Spawn argument | Simulation |
|---|---|---|
| DJI f450 | --f450 |
 |
| DJI f550 | --f550 |
 |
| Tarot t650 | --t650 |
 |
Selected tmuxinator scripts:
- example_tmux_scripts/one_drone_gps
- example_tmux_scripts/one_drone_gps_standalone
- example_tmux_scripts/one_drone_optic_flow
- example_tmux_scripts/two_drones_gps
Bare tmux script (similar to the one used on real UAVs):
For detail description of script capabilities for spawning vehicles see mrs_simulation.
Install the whole MRS UAV system.
The install.sh script will add the following to your .bashrc:
source /opt/ros/melodic/setup.bash
source /usr/share/gazebo/setup.sh