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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.
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.
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
sorry, i forgot to share the picture!
I see the second one instead the first one.
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>
Asked: 2011-11-22 00:28:49 -0500
Seen: 3,646 times
Last updated: Dec 20 '11
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