gazebo_assets

Colletion of AS2 Gazebo assets and scripts.

INDEX

• HOW TO RUN
• OPTIONS
  • ENV VARS
  • CONFIG FILE
• MORE OPTIONS
• EXAMPLES

• ADVANCED USAGE

HOW TO RUN: Basic usage

Previously setting AS2 environment, simply run:

${AEROSTACK2_PATH}/as2_simulation_assets/gazebo_assets/scripts/default_run.sh 

or using a config file (see config files) :

${AEROSTACK2_PATH}/as2_simulation_assets/gazebo_assets/scripts/default_run.sh <config-file>

This will run for you gzserver, spawn an iris model, compile and run PX4 SITL rtps and open gzclient.

OPTIONS

Inital configuration aspects as world, drone model, drone pose or adding several drones can be done setting environment variables or using a config file.

ENV VARS

Previously set needed environment variables before launching the script.

• World

    export PX4_SITL_WORLD=<path-to-world>
    

• Drone model

    export UAV_MODEL=<model-name>
    

• Drone pose

    export UAV_X=<float>  # meters
    export UAV_Y=<float>  # meters
    export UAV_Z=<float>  # meters
    export UAV_YAW=<float>  # radians
    

CONFIG FILE

Using a config file lets you to set the simulation environment. You can select a world (or none) and attach to it a number of desired drones with desired model and position. Please pay atention to teh format file, otherwise it may fail.

Example of a config file:

{
    "world": "${AEROSTACK2_PATH}/as2_simulation_assets/gazebo_assets/worlds/frames.world",
    "0": {
        "model": "iris_fpv",
        "pose": [ 0.0, 0.0, 0.0, 1.57 ]
    },
    "1": {
        "model": "iris",
        "pose": [ 3.0, 0.0, 0.0, 1.57 ]
    }
}

MORE OPTIONS

• Use custom models in world/drone:

    export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:<custom-model-path>
    

• Run simulation without gzclient (TBD):

    export HEADLESS=1
    

• Follow drone mode (TBD):

    export PX4_FOLLOW_MODE=1
    

• Change PX4 GPS origin:

    export PX4_HOME_LAT=28.143971  # degrees
    export PX4_HOME_LON=-16.503213  # degrees
    export PX4_HOME_ALT=0  # meters
    

• Change PX4 vehicle (TBD):

    export VEHICLE=iris  # typhoon
    

• Verbose mode:

    export VERBOSE_SIM=1
    

EXAMPLES

Several examples can be found on test folder.

ADVANCED USAGE

If you want to build your own PX4 first, you can also check test_run_sitl script.

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