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starmac simulated_quadrotor a real simulator???

asked 2011-12-20 02:41:04 -0500

hmmm gravatar image

from where does starmac simulated_quadrotor get its sensordata for simulation ??? are the sensors(acc,gyro,...) modelled in starmac simulator??? Is starmac a real simulation of a quadrokopter???? It is confusing because the simulated_quadrotor uses RVIZ.But Rviz is only a Vizualisation,as far as i understand.

I want a real Simulation of my selfmade quadrotor.How can i achieve this?

thanks,greets adrian

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answered 2012-01-29 05:01:51 -0500

updated 2012-01-29 05:02:30 -0500

I just noticed this question while browsing around.. I guess this is related to a posting on the starmac-ros-pkg-users list. Dimitri is correct in his assessment--in my response on the mailing list I went into a bit more detail. The tl;dr version is that simulated_quadrotor simulates just enough to give me enough confidence to try something out on the real quadrotor. So if there's a sign error somewhere in the code that will probably be revealed in the simulator but I wouldn't expect it to reveal anything substantially more subtle than that.

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answered 2011-12-20 02:52:12 -0500

DimitriProsser gravatar image

Quadrotors are incredibly difficult to simulate. This is the closest I've seen to a "real" simulated quadrotor. The major problem is that this is for Gazebo, but is not integrated into ROS yet. This could be done, but it would require patching Gazebo itself and writing a ROS wrapper for the controller code.

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answered 2012-05-29 13:48:05 -0500

SL Remy gravatar image

This hector_quadrotor_gazebo package seems like what you are looking for.

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answered 2011-12-20 03:22:18 -0500

hmmm gravatar image

What does it mean ??? so the starmac simulator is not a simulator??? I need a simulator,using ROS. :(

I don't understand from where flyer_sim (=starmac_flyer package)recieves its sensordata,or if it even recieves any sensordata at all? So are sensors modelled in flyer_sim? Or does flyer_sim maybe recieve the sensordata from real quadrotor???

thanks ,greets mukmuk

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The simulated quadrotor node generates an odom message that is emulated based on a mathematical model. It's by no means a simulation of flight. It's made just to test out control modes, etc.
DimitriProsser gravatar image DimitriProsser  ( 2011-12-20 03:44:23 -0500 )edit

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Asked: 2011-12-20 02:41:04 -0500

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Last updated: May 29 '12