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It seems like you could write a Gazebo plugin (like http://gazebosim.org/tutorials?tut=plugins_model) but instead of applying a constant force in one direction, apply Gaussian noise (or some other distribution) in all 3 directions to your quadcopter.

It seems like you could write a Gazebo plugin (like http://gazebosim.org/tutorials?tut=plugins_model) but instead of applying a constant force in one direction, apply Gaussian noise (or some other distribution) in all 3 directions to your quadcopter. This assumes you are trying to simulate environmental disturbances like turbulence, updrafts etc...