Simulate a swarm of quadrotors using the Pixhawk

asked 2017-01-24 12:38:29 -0600

RafaelGB gravatar image

Hello, everyone,

I've been using Gazebo, the Pixhawk SITL simulator and the ardupilot_sitl_gazebo_plugin package to simulate one quadrotor running the ArduCopter firmware. This is the tutorial I followed to get things working: http://docs.erlerobotics.com/simulati... . For what I understood, the dynamics of the quadrotor, the IMU and GPS sensors are all simulated by the SITL and the arducopter_sitl_gazebo_plugin sends these information to Gazebo, synchronizing the two simulators. Now I want to simulate a swarm of these quadrotors (maybe 3 or 4). I am able to run multiple instances of the SITL simulator, however the plugin apparently was made with just one quadrotor in mind, so it connects to just one instance. I thought about changing the plugin's code, however I'm afraid that I don't have enough knowledge in C++ to do so. Has anyone had the same problem and can point me in the right direction to make this work? Or maybe does anyone know a better way to simulate a swarm of drones running the Pixhawk firmware?

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Comments

I'm not an expert of Pixhawk STIL, but I'd suggest you have a look at rotors. It's based on ROS and Gazebo ;)

Femer gravatar image Femer  ( 2017-01-24 14:31:57 -0600 )edit

Thanks, Femer! I already knew rotors, and one of my options is to use it for my work. However since we already use the Pixhawk to control our quadrotors in the lab, it would be useful to be able simulate it to test new control strategies.

RafaelGB gravatar image RafaelGB  ( 2017-01-25 12:59:01 -0600 )edit

HI RafaelGB, I am actually trying to accomplish something similar with the erlecopters. Have you been able to solve this issue? cheers, Hugo

Hugo Sardinha gravatar image Hugo Sardinha  ( 2017-06-20 12:00:12 -0600 )edit