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Programming a simulation [ROS+Gazebo]

asked 2018-05-01 11:01:51 -0500

Dylan gravatar image

Hello everyone,

I need to use an AR.Drone quadcopter in ROS+Gazebo for a University project. I'm a beginner in this, and I need to do it in a few days. What I need to do first is a basic and simple program that does something like this:

  • Fly 1 meter up
  • Turn left and fly 2 meters
  • Land

How can I do that? I would like to have a step by step tutorial or book or something that teaches me. Is there anyone? I am using ROS Kinetic and Gazebo 7

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answered 2018-05-07 03:14:11 -0500

TTDM gravatar image

The most common ros-gazebo quadrotor simulator package is rotors which offer a simulated AR-drone (among others).

You can also look at hector_quadrotor

If your project is not simulation only and you plan on flying using ROS later, you should give a look at rosflight.

I think that your best shot to fly using high level commands in a few days is using RotorS. However, fully understanding the package would take you weeks.

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answered 2018-05-04 04:03:33 -0500

updated 2018-05-04 04:06:12 -0500

Hi Dylan, since you are asking specifically for books or tutorials, I would like to recommend you a course we have created at the Robot Ignite Academy, that is available online and that deals that type of questions. The information about the course is here: Programming drones with ROS. Check the content to see if that is what you are looking for.

In that course you use an online simulation of the AR.drone to learn how to move it and so on. The simulation is made with Gazebo 7 + ROS Kinetic and runs directly online on your browser so you do not have to install it, just run it using a browser and any operating system (you don't even need to install ROS). If you are in a hurry, I think that is a very convenient option.

The same academy has other courses that can teach you the basics or ROS in case you need it.

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answered 2018-05-01 14:01:50 -0500

aadityacr7 gravatar image

updated 2018-05-01 17:50:45 -0500

You could explore this package as a starting point to simulate an AR Drone in Gazebo.

EDIT: This packagehas the TUM Simulator ported to ROS Kinetic. see: (https://answers.ros.org/question/2516...)

A post by Robohub on basics of AR Drone flight with ROS. Seems have 3 tutorial blog posts.

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Thanks for the answer. TUM Simulator uses ROS Indigo and Gazebo 2, and I'm using ROS Kinetic and Gazebo 7. I'm using QLAB simulator, it's like TUM but it works for newer versions. But what I need is to learn how to program basic steps like those that I posted in the main post.

Dylan gravatar imageDylan ( 2018-05-01 14:27:37 -0500 )edit

Just added a few new links. Check them out, if they are of any help.

aadityacr7 gravatar imageaadityacr7 ( 2018-05-01 17:51:56 -0500 )edit

The package you posted (by angelsantamaria) didn’t work for me. Thats why I’m asking for a quadcopter programming tutorial. None of the ardronw tutorials are helpful for me. That robohub is completely based on that old simulator. Thanks

Dylan gravatar imageDylan ( 2018-05-02 01:01:05 -0500 )edit

Oops sorry! Will post if I find any other tutorials of AR Drone + ROS Kinetic.

aadityacr7 gravatar imageaadityacr7 ( 2018-05-02 03:18:37 -0500 )edit
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Asked: 2018-05-01 11:01:51 -0500

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Last updated: May 07