rotorSv1

updated the rotorS Package - https://github.com/ethz-asl/rotors_simulator

Installation - Ubuntu 20.04 with ROS Noetic and Gazebo 11

To use the code developed and stored in this repository some preliminary actions are needed. They are listed below.

1. Install and initialize ROS noetic desktop full, additional ROS packages, catkin-tools, and wstool:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-noetic-desktop-full ros-noetic-joy ros-noetic-octomap-ros ros-noetic-mavlink
sudo apt install ros-noetic-octomap-mapping ros-noetic-control-toolbox
sudo apt install python3-vcstool python3-catkin-tools protobuf-compiler libgoogle-glog-dev
sudo rosdep init
rosdep update
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt-get install python3-rosdep python3-wstool ros-noetic-ros libgoogle-glog-dev

Download the code into the xxx/xxx/src folder

Follow the given commands

mkdir ~/rotors_ws/src
cd ~/rotors_ws/src
git clone https://github.com/zahirmahammad/rotorSv1.git
cd ..

Build the package using the following command

cd ~/rotors_ws/
catkin build

Launch firefly drone in gazebo

source devel/setup.bash
roslaunch rotors_gazebo mav_hovering_example.launch mav_name:=firefly world_name:=basic

New List of drones

1. hummingbird
2. pelican
3. firefly
4. f450
5. f550
6. s500
7. tarot650
8. tarot680
9. x500

Launch the F550 drone in gazebo

source devel/setup.bash
roslaunch rotors_gazebo f550_hovering_example.launch

To spawn F550 Swarm in gazebo

source devel/setup.bash
roslaunch rotors_gazebo f550_swarm_hovering_example.launch

Navigate into /CrazyS/rotors_gazebo/launch/ folder to go through various the launch files

To spawn other drone models use the below command (note that xxx should be replaced with the model name)

roslaunch rotors_gazebo xxx_hovering_example.launch
roslaunch rotors_gazebo xxx_swarm_hovering_example.launch #spawns the swarm of drone model

To spawn all the drones in the package

source devel/setup.bash
roslaunch rotors_gazebo all_multicopters_hovering_example.launch