How can i simulate an UAV on Gazebo?

asked 2011-11-22 00:28:49 -0600

Maurizio88
155 ●21 ●24 ●31

updated 2014-01-28 17:10:50 -0600

ngrennan
1 ●1 ●1

hi all! I need to create an UAV model for Gazebo, a Quadrotor. I need to control it also, by keyboard. What can i do? There is some package that allow to do that?

Creating the model it's not so hard, but i don't know how to control it.

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answered 2011-11-22 00:45:34 -0600

DimitriProsser

11163 ●79 ●116 ●169

Your best bet would be to look in the AscTec Pelican stack. This quadrotor has a functional urdf file that can be used to bring up the pelican in Gazebo. I don't believe that the urdf provided functions 100% in Gazebo yet, so here is a link to my previous resolution of this issue.

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The .stl file is indeed incorrect in some way. I'm not exactly sure why/how this happened, but I reproduced your error exactly. The odd part is that it looks perfectly fine in Rviz. I'll look into this.

DimitriProsser ( 2011-11-23 02:18:20 -0600 )edit

I've still been unable to solve this problem. The one advantage is that with this configuration, you can create your own quadrotor mesh and load it in place of the pelican's mesh and it should still work.

DimitriProsser ( 2011-12-05 06:09:56 -0600 )edit

You can also check out the hector quadrotor stack recently released. http://www.ros.org/news/2012/03/announcement-of-hector-quadrotor-stack.html documentation http://www.ros.org/wiki/hector_quadrotor

tfoote ( 2012-03-19 23:29:00 -0600 )edit

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answered 2011-11-23 01:03:11 -0600

Maurizio88
155 ●21 ●24 ●31

updated 2011-11-23 01:03:36 -0600

sorry, i forgot to share the picture!

I see the second one instead the first one.

image description

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Is gazebo can simulate air dynamics?

sam ( 2011-12-20 12:08:37 -0600 )edit

i have the same problem,to simulate the uav in gazebo.how is this to realize?? any suggestions? i think,maybe after a calculation of the needed resulting (up)force and 3 torques(each for one dimension) we can pretend these force and 3 torques to the center of mass of the quadrotor. The only unrealistic thing is ,that there is no air friction within gazebo.Any suggestions are welcome,please. Anyone ,who deals with this problem is also welcome to contact me over email...., greets

hmmm ( 2011-12-28 23:58:07 -0600 )edit

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answered 2011-11-22 04:03:07 -0600

Maurizio88
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thanks Dimitri,

but i have a problem with the pelican.stl file. I don't know why, i can open tha file correctly with FreeCAD or MeshLab, but not with gazebo. I can spawn the object, but it has a different shape.

The interested part of my file urdf is:

<link name="base_link">
    <inertial>
        <mass value="10.0" />
        <origin xyz="0 0 0" />
        <inertia  ixx="1" ixy="0.000"  ixz="0.0"  iyy="1"  iyz="0.0"  izz="1" />
    </inertial>
    <visual>
        <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 3.1415"/>
        <geometry>
            <mesh filename="package://my_pelican/data/pelican.stl" scale="0.001 0.001 0.001" /> 
        </geometry>
        <material name="blue">
            <color rgba="0.4 0.4 0.5 1.0"/>
        </material>
    </visual>
    <collision>
        <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 3.1415"/>
        <geometry>
            <mesh filename="package://my_pelican/data/pelican.stl" scale="0.001 0.001 0.001" /> 
        </geometry>
    </collision>
</link>

<gazebo reference="base_link"> <kp>1000000000.0</kp> <kd>1.0</kd> <material>Gazebo/Blue</material> <turngravityoff>true</turngravityoff> </gazebo>

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What is the different shape?

DimitriProsser ( 2011-11-23 00:35:57 -0600 )edit

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How can i simulate an UAV on Gazebo?

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