How to run Software-in-loop simulation using ArduCopter SITL + Gazebo + MAVROS Melodic+ SLAM( Simultaneous localisation and mapping) for Quadcopter Drone in Simulation Environment?

asked 2020-10-16 00:00:05 -0600

praveen gravatar image

Can anyone have an idea of how can SLAM in a simulation environment with a Quadcopter Drone can be set up? I would like to do it in Hector SLAM in ROS Rviz visualization with SITL Simulation. Since I am at the beginner level I could not able to find the working method of SLAM in Simulation Environment using Drones. Can anyone please help me or guide me to simulate SLAM technique in the SITL environment for drones? I have tried the following steps. but could not able to succeed.

I followed the steps with the following link

And then Tried, Terminal 1: roscore Terminal 2: roslaunch iq_sim lidar.launch ( This is the model with quadcopter lidar in gazebo simulation) Terminal 3: -v ArduCopter -f gazebo-iris --console Terminal 4: roslaunch hector_slam_launch tutorial.launch

Here, I get this warning Terminal 5: roslaunch mavros apm.launch fcu_url:=udp://:14855@

I have tried in this way, but nothing is popping up as mentioned in the above website,

can you help me, how can I do with rviz or please try to resolve my issue?

Thank you.

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hi, i'm trying the same too but i haven't succeeded yet. I have to simulate a drone with arducopter so the transition to the real drone is easier. I can tell you however that the sitl with the command gazebo-iris cannot start. moreover the hector package gives you many topics to control the drone but it does not simulate the autopilot. it looks like someone managed to run px4.

peppegti gravatar image peppegti  ( 2020-11-25 13:36:37 -0600 )edit

Even, I do not succeed yet. Trying to succeed.

praveen gravatar image praveen  ( 2020-11-27 05:49:00 -0600 )edit