MRS Gazebo Simulation
| Simulation build status |  |
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|---|
Submodules
| ROS Package | 18.04 | 20.04 |
|---|---|---|
| mrs_simulation |  |
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| mrs_gazebo_common_resources |  |
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| px4 |  |
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| mavlink_sitl_gazebo |
System requirements
Required OS is Ubuntu 20.04 LTS 64-bit (Ubuntu 18.04 LTS 64-bit) or its flavors that can install ROS Noetic (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.
Unmanned Aerial Vehicles
| Model | Spawn argument | Simulation |
|---|---|---|
| DJI f330 | --f330 |
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| DJI f450 | --f450 |
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| Holybro x500 | --x500 |
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| DJI f550 | --f550 |
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| Tarot t650 | --t650 |
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| NAKI II | --naki |
 |
Examples of tmuxinator simulation sessions
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.
Installing simulation
Install the whole MRS UAV system.
Finishing your .bashrc
The install.sh script will add the following to your .bashrc:
source /opt/ros/<ros_version>/setup.bash
source /usr/share/gazebo/setup.sh