RotorS

RotorS is a MAV gazebo simulator. It provides some multirotor models such as the AscTec Hummingbird, the AscTec Pelican, or the AscTec Firefly, but the simulator is not limited for the use with these multicopters.

There are simulated sensors coming with the simulator such as an IMU, a generic odometry sensor, and the VI-Sensor, which can be mounted on the multirotor.

This package also contains some example controllers, basic worlds, a joystick interface, and example launch files.

Below we provide the instructions necessary for getting started. See RotorS’ wiki for more instructions and examples (https://github.com/ethz-asl/rotors_simulator/wiki).

If you are using this simulator within the research for your publication, please cite:

@Inbook{Furrer2016,
author="Furrer, Fadri
and Burri, Michael
and Achtelik, Markus
and Siegwart, Roland",
editor="Koubaa, Anis",
chapter="RotorS---A Modular Gazebo MAV Simulator Framework",
title="Robot Operating System (ROS): The Complete Reference (Volume 1)",
year="2016",
publisher="Springer International Publishing",
address="Cham",
pages="595--625",
isbn="978-3-319-26054-9",
doi="10.1007/978-3-319-26054-9_23",
url="http://dx.doi.org/10.1007/978-3-319-26054-9_23"
}

Installation Instructions - Ubuntu 16.04 with ROS Kinetic ———————————————————

1. Install and initialize ROS kinetic 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'
 $ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
 $ sudo apt-get update
 $ sudo apt-get install ros-kinetic-desktop-full ros-kinetic-joy ros-kinetic-octomap-ros ros-kinetic-mavlink python-wstool python-catkin-tools protobuf-compiler libgoogle-glog-dev ros-kinetic-control-toolbox
 $ sudo rosdep init
 $ rosdep update
 $ source /opt/ros/kinetic/setup.bash
 

1. If you don’t have ROS workspace yet you can do so by

 $ mkdir -p ~/catkin_ws/src
 $ cd ~/catkin_ws/src
 $ catkin_init_workspace  # initialize your catkin workspace
 $ wstool init
 $ wget https://raw.githubusercontent.com/ethz-asl/rotors_simulator/master/rotors_hil.rosinstall
 $ wstool merge rotors_hil.rosinstall
 $ wstool update
 

Note On OS X you need to install yaml-cpp using Homebrew brew install yaml-cpp.

1. Build your workspace with python_catkin_tools (therefore you need python_catkin_tools)

   $ cd ~/catkin_ws/
   $ catkin build
   

1. Add sourcing to your .bashrc file

   $ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
   $ source ~/.bashrc
   

Installation Instructions - Ubuntu 14.04 with ROS Indigo

1. Install and initialize ROS indigo 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'
 $ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
 $ sudo apt-get update
 $ sudo apt-get install ros-indigo-desktop-full ros-indigo-joy ros-indigo-octomap-ros python-wstool python-catkin-tools protobuf-compiler libgoogle-glog-dev
 $ sudo rosdep init
 $ rosdep update
 $ source /opt/ros/indigo/setup.bash
 

1. If you don’t have ROS workspace yet you can do so by

 $ mkdir -p ~/catkin_ws/src
 $ cd ~/catkin_ws/src
 $ catkin_init_workspace  # initialize your catkin workspace
 $ wstool init
 

Note for setups with multiple workspaces please refer to the official documentation at http://docs.ros.org/independent/api/rosinstall/html/ by replacing rosws by wstool.

1. Get the simulator and additional dependencies

``` $ cd ~/catkin_ws/src $ git clone git@github.com:ethz-asl/rotors_simulator.git

File truncated at 100 lines see the full file