The range finder in SITL and new ArduCopter-ROS/Gazebo SITL

[Aleksandr Buyval]

Hi All,

I have developed a class for support a range finder in SITL mode. It allows to simulate a drone with sonar or something similar. I use this for my simulations in indoor environments. Also I have developed a new SITL mode which uses the Gazebo as simulator. My SITL mode are similar on last_letter simulator and uses a similar approach for communication. To use this SITL mode you will need a additional ROS package from my repository (https://bitbucket.org/alexbuyval/arducopter_sitl_ros).

All described things you can find in my fork https://github.com/alexbuyval/ardupilot.git (use 'RangeFinderSITL' branch).

To start the simulation, please use the following command from ArduCopter folder:

sim_vehicle.sh -f arducopter_sitl_ros --console

In the Gazebo I have used the 'rotors_simulator'. Please, use my fork in which I have added the sonar plugin.

You can see a example of simuation on the following video:

https://youtu.be/-GLAiLSGvXE

I uses 'ALT_HOLD' mode and EKF_ALT_SOURCE = 1 (which means that the copter uses the range finder as altitude source) and EKF_GPS_TYPE = 3 (which means that the GPS is not used)

To control the drone in this video I have used a own simple ROS node. This node uses PD controller to hover under visual marker. I used 'ar_track_alvar' ROS package for marker tracking. In this node I also combine data from joystick and PD controller. I use the joystick to control a altitude. 

If these features are interesting for community I will do a pull request to the main repository.

Best Regards,

Alex

[Randy Mackay]

Aleksandr,

 

     I’ve seen Tridge get the ROS simulator working with ardupilot but I haven’t seen anyone else do it so congrats!

 

     I think we’d be interested in that PR.  Also maybe Hamish could help us document how to get the ROS simulator working with Ardupilot so that it can be added to our simulator section on the dev wiki.

            http://dev.ardupilot.com/wiki/simulation-2/sitl-simulator-software-in-the-loop/

 

-Randy

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[Aleksandr Buyval]

Randy,

I have created the PR. Also I will create wiki-page in the nearest future.

Best Regards,

Alex

среда, 5 августа 2015 г., 5:45:57 UTC+3 пользователь Randy Mackay написал:

[ham...@3drobotics.com]

Hi Aleksandr

>  Also I will create wiki-page in the nearest future.

Awesome! I have created an issue for tracking this: https://github.com/diydrones/ardupilot-wiki-issue-tracker/issues/122

Do you already have access to dev wiki. If not, email me at hamish at 3drobotics dot com (with the account you want to use) and I will give you access.

Cheers

H