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committedApr 22, 2024·
Add multirotor simulator
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‎docs/_02_examples/multirotor_simulator/index.rst

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.. _examples_multirotor_simulator:
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====================
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Multirotor Simulator
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====================
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These examples use the :ref:`Multirotor Simulator Platform <aerial_platform_multirotor_simulator>`.
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You can install it following the instructions in :ref:`installation section <aerial_platform_multirotor_simulator>`.
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.. figure:: resources/multirotor_simulator_main.png
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:scale: 50
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:class: with-shadow
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.. raw:: html
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<h2>List of examples based on Multirotor Simulator</h2>
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---------------------
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.. toctree::
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:maxdepth: 1
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project_multirotor_simulator/index.rst

‎docs/_02_examples/multirotor_simulator/project_multirotor_simulator/images/swarm_gz.png

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‎docs/_02_examples/multirotor_simulator/project_multirotor_simulator/index.rst

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.. _project_multirotor_simulator:
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============================
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Multirotor Simulator Example
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============================
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To install this project, clone the repository:
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.. code-block:: bash
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git clone https://github.com/aerostack2/project_as2_multirotor_simulator
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To start using this project, please go to the root folder of the project.
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.. _project_multirotor_simulator_simulated:
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---------
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Execution
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---------
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The execution will launch the Aerostack2 components.
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The flags for the components launcher are:
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* ``-n <namespace>`` - namespace for the drone. Default, not specified and uses ``config/world.yaml`` configuration. If specified, it uses ``config/platform_config_file.yaml`` configuration.
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* ``-m`` - multi agent mode. Default is disabled. If specified, it uses ``config/world_swarm.yaml`` configuration.
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* ``-d`` - launch rviz visualization. If not specified, it does not launch rviz visualization. If specified, it launches rviz visualization with `config/tf_visualization.rviz` configuration.
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* ``-e <estimator type>`` - estimator type. Default is ``ground_truth``. Available options: ``ground_truth``, ``raw_odometry``, ``raw_odometry_gps``. It uses configuration from ``config/state_estimator*.yaml``.
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* ``-r`` - record rosbag. Default is disabled. If specified, it records rosbag in ``rosbag`` directory.
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* ``-t`` - launch keyboard teleoperation. Default is disabled. If specified, it launches keyboard teleoperation.
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.. _project_multirotor_simulator_simulated_single_drone:
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Single drone
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============
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In order to launch the components for a **single drone**, do:
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.. code-block:: bash
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./launch_as2.bash -d -t
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This will open a simulation for a single drone alongside the Aerostack2 components necessary for the mission execution.
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A window with RViz (argument ``-d``) should popup.
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It will also open a keyboard teleoperation (argument ``-t``), which you can use to teleoperate the drone with the :ref:`aerostack2 keyboard teleoperation user interface <user_interfaces_keyboard_teleoperation>`.
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A window like the following image should popup:
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.. figure:: images/keyboard_teleop_view.png
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:scale: 50
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:class: with-shadow
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Keyboard teleoperation
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To start the mission, execute:
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.. code-block:: bash
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python3 mission.py
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Also, you can try the mission planner, which describes the mission in a JSON format:
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.. code-block:: bash
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python3 mission_planner.py
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To do a clean exit of tmux, execute:
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.. code-block:: bash
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./stop.bash
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.. _project_multirotor_simulator_simulated_swarm_drones:
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Swarm drones
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============
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In order to launch the components for a **swarm of 3 drones**, do:
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.. code-block:: bash
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./launch_as2.bash -m -t -d
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This will open a simulation for a swarm of drones (argument ``-m``) alongside the Aerostack2 components necessary for the mission execution.
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A window with RViz (argument ``-d``) should popup.
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It will also open a keyboard teleoperation (argument ``-t``), which you can use to teleoperate the swarm with the :ref:`aerostack2 keyboard teleoperation user interface <user_interfaces_keyboard_teleoperation>`.
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A window like the following image should popup:
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.. figure:: images/keyboard_swarm_view.png
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:scale: 50
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:class: with-shadow
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Keyboard teleoperation
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To start the mission, execute:
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.. code-block:: bash
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python3 mission_swarm.py
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To do a clean exit of tmux, execute the following command with the list of the used drones:
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.. code-block:: bash
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./stop.bash drone0 drone1 drone2

‎docs/_02_examples/multirotor_simulator/resources/multirotor_simulator_main.png

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‎docs/_03_aerial_platforms/_multirotor_simulator/index.rst

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.. _aerial_platform_multirotor_simulator:
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====================
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Multirotor Simulator
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====================
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.. contents:: Table of Contents
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:depth: 3
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:local:
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.. _aerial_platform_multirotor_simulator_introduction:
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------------
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Introduction
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------------
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For simulation purposes with `Multirotor simulator <https://github.com/RPS98/multirotor_simulator>`__ , Aerostack2 provides with a platform that serves as an entry point for aerial robotics simulated in this environment.
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.. _aerial_platform_multirotor_simulator_installation:
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------------
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Installation
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------------
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* For binary installation, install by running:
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.. code-block:: bash
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sudo apt install ros-humble-as2-platform-multirotor-simulator
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.. warning:: This package is available for aerostack2 v1.1 and onwards.
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* For source installation, clone Aerostack2 repository into your workspace and build it. See it in :ref:`Aerostack2 installation guide <getting_started_ubuntu_installation_source>`.
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.. _aerial_platform_multirotor_simulator_as2_common_interface:
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---------------------------
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Aerostack2 Common Interface
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---------------------------
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For more details about platform control modes and sensors, see :ref:`Aerostack2 Aerial Platform Concepts <as2_concepts_aerial_platform>`.
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.. _aerial_platform_multirotor_simulator_as2_common_interface_control_modes:
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Control Modes
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=============
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These are supported control modes:
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.. list-table:: Control Modes Multirotor Simulator Platform
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:widths: 50 50 50
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:header-rows: 1
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* - Control Mode
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- Yaw Mode
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- Reference Frame
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* - Hover
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- None
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- None
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* - Position
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- Angle
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- ENU
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* - Position
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- Speed
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- ENU
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* - Speed
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- Angle
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- ENU
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* - Speed
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- Speed
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- ENU
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* - Trajectory
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- Angle
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- ENU
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* - Trajectory
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- Speed
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- ENU
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* - Acro
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- None
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- None
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.. _aerial_platform_multirotor_simulator_as2_common_interface_sensors:
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Sensors
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=======
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These are supported sensors:
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.. list-table:: Sensors Multirotor Simulator Platform
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:widths: 50 50 50
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:header-rows: 1
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* - Sensor
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- Topic
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- Type
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* - IMU
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- sensor_measurements/imu
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- sensor_msgs/msg/Imu
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* - GPS
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- sensor_measurements/gps
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- sensor_msgs/msg/NavSatFix
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Gimbal
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======
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Gimbal is supported in simulation. These are the supported gimbal model types:
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.. list-table:: Gimbal Control Modes Multirotor Simulator Platform
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:widths: 50 50 50 50
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:header-rows: 1
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* - Gimbal type
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- Topic
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- Type
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- Control mode id
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* - gimbal_position
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- platform/{gimbal_name}/gimbal_command
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- as2_msgs/msg/GimbalControl
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- "0"
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Gimbal state is published in the following topics:
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.. list-table:: Gimbal State Multirotor Simulator Platform
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:widths: 50 50
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:header-rows: 1
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* - Topic
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- Type
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* - sensor_measurements/{gimbal_name}
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- geometry_msgs/msg/PoseStamped
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.. _aerial_platform_multirotor_simulator_config_simulation:
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-----------------
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Config Simulation
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-----------------
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Configuration files are located in ``as2_platform_multirotor_simulator/config/``:
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* ``control_modes.yaml``: available input control modes for the aerostack2 aerial platform.
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* ``platform_config_file.yaml``: ROS 2 configuration, with tf names, frequencies and aerostack2 parameters.
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* ``simulation_config.yaml``: simulation configuration, with frequency and environment parameters.
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* ``uav_configuav_config.yaml``: UAV configuration, with the drone's physical parameters and controller configuration.
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* ``world_config.yaml``: world configuration, as parameters override for each drone namespace in the configuration file.
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.. _aerial_platform_multirotor_simulator_platform_launch:
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---------------
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Platform Launch
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---------------
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Aerostack2 Multirotor Simulator platform provides two launch files:
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* ``as2_platform_multirotor_simulator.launch.py``: launch the platform with platform configuration file.
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* ``as2_platform_multirotor_simulator_world.launch.launch.py``: launch the platform with world configuration file.
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You can show launcher parameters by running:
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.. code-block:: bash
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ros2 launch as2_platform_multirotor_simulator as2_platform_multirotor_simulator.launch..py --show-args
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.. code-block:: bash
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ros2 launch as2_platform_multirotor_simulator as2_platform_multirotor_simulator_world.launch..py --show-args
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Launcher parameters order:
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1. Default configuration file in ``as2_platform_multirotor_simulator/config/`` folder.
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2. Custom configuration file in the launch command (e.g. *platform_config_file:=path/to/file.yaml*).
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3. Custom parameters in the launch command (e.g. *frequency:=100*).
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4. Custom world configuration in the launch command (e.g. *world_config:=path/to/file.yaml*), for the world launcher.
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Example of launch command:
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.. code-block:: bash
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ros2 launch as2_platform_multirotor_simulator as2_platform_multirotor_simulator.launch.py namespace:=drone0
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For launch the simulation, run the following command:
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.. code-block:: bash
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ros2 launch as2_platform_multirotor_simulator as2_platform_multirotor_simulator_world.launch.launch.py namespace:=drone0 world_config:=config/world_config.yaml

‎docs/_03_aerial_platforms/index.rst

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.. toctree::
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:maxdepth: 2
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_multirotor_simulator/index.rst
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_gazebo_simulation/index.rst
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_pixhawk/index.rst
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_crazyflie/index.rst

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