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Simulation and real life - add external disturbances

asked 2019-04-12 06:34:52 -0500

Dylan gravatar image

I'm trying to simulate my quadcopter in Gazebo using ROS Kinetic, but the problem is that the simulation is ideal and everything works perfectly, but when I go to the real life it doesn't work as expected.

That's why I'm trying to add noise to my quadcopter movements. For example, I would like to publish a sine movement in x and y axis and, over that, my control. So, I think that the solution would be 2 topics publishing in the same node (/cmd_vel) but with movements being added, I mean, not one topic publishing or the other. For example, if my noise is 1.5 in an instant and the control is -0.4, then what I want to publish in that instant is 1.1

How can I do that?

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answered 2019-04-12 09:56:44 -0500

froohoo gravatar image

updated 2019-04-12 10:00:26 -0500

It seems like you could write a Gazebo plugin (like http://gazebosim.org/tutorials?tut=pl...) 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...

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Asked: 2019-04-12 06:34:52 -0500

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Last updated: Apr 12