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New to Gazebo (Simulate a swarm of quadrotor)

asked 2014-11-05 04:16:49 -0500

newbie gravatar image

updated 2014-11-06 02:22:40 -0500

Hi, I'm totally new to Gazebo (or any simulation programme) and I'm required to use it for my school project. Right now, I'm using the quadrotor available in Gazebo library. At the end of the project I'm supposed to simulate a swarm of quadrotors, navigate thru obstacles without changing its altitude. Currently, I can't even simulate it hovering over its current position. How do I do this?

Or is there any links that can help me to understand Gazebo better?

What coding does Gazebo run on?

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You need to make a plugin to move the quadrotor(s) around. For now, disble gravity in the world to make the model hover. Then create a plugin to accept input (via ROS topic, if required or some other means) and move the rotor(s) accordingly.

Kunal Tyagi gravatar imageKunal Tyagi ( 2014-11-06 06:24:12 -0500 )edit

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answered 2014-11-18 18:39:57 -0500

NickDP gravatar image

Have you looked at and gone through the tutorials?

Once you get going with the tutorials and want to add your own stuff, the Gazebo API will be useful.

You're going to want to write a model plugin for your quadrotor model. You can either control the robot right there in the plugin, where you can get the robots state (joint angles, velocities, etc) and set joint angles/velocities/torques, or you can do this from an executable outside of Gazebo that communicates with your robot's model plugin through Gazebo's messaging system. The former method will be easier to get started with.

The model plugin that you'll write will be in C++. The tutorials will also show you how to compile your code using CMake and Make.

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answered 2014-11-28 02:03:20 -0500

Stefan Kohlbrecher gravatar image

I know people have used hector_quadrotor for simulating multiple UAVs simultaneously in the past, but unfortunately do not have example code available.

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Asked: 2014-11-05 04:16:49 -0500

Seen: 2,166 times

Last updated: Nov 28 '14