ctu-mrs / simulation

The OLD Gazebo Simulation repository.

The Old Gazebo Simulation

⚠️ Attention please: This package is no longer maintained!!!

This is an old package that is no longer maintained. The new version of the Gazebo Simulation is located here. This repository will be erased soon

Submodules

ROS Package
mrs_simulation
mrs_gazebo_common_resources
px4
mavlink_sitl_gazebo

System requirements

Required OS is Ubuntu 20.04 LTS 64-bit or its flavors that can install ROS Noetic. 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
DJI f450	--f450
Holybro x500	--x500
DJI f550	--f550
Tarot t650	--t650
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):

• example_tmux_scripts/just_flying_bare_tmux

For detail description of script capabilities for spawning vehicles see mrs_simulation.

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