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Most appropriated simulator?

asked 2013-11-03 23:32:13 -0500

updated 2014-01-28 17:18:27 -0500

ngrennan gravatar image

What software package would you suggest to simulate a team of UAVs in USAR scenarios? Required features:

  1. 3D
  2. realistic outdoor environments
  3. multiagent
  4. simulation of the appropriate sensors (IMU, GPS, cameras, ...)
  5. ROS integration

We will use some AscTec firefly but any simulated quadrotor would be fine.

I tried USARSim which has all the required features but lacks the integration with ROS. There's an open source (wannabe) bridge project USARSimRos that should do the job but has some bugs (e.g. here). Nothing unresolvable but before reinventing the wheel I am scouting for alternative solutions.

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answered 2013-11-04 02:59:02 -0500

SL Remy gravatar image

I think that Gazebo should cover these features as well.

Have you looked at what others have done with the hector_quadrotor package?

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Thank you tringhost, in fact I am about to try the tutorials, as soon as the gazebo installation is done... :-) One concern: do you know of any ready-made outdoor scenarios available?

kr1zz gravatar image kr1zz  ( 2013-11-04 03:04:05 -0500 )edit

I made the simple outdoor scenario that is used in the outdoor demo, but creating your own is pretty easy if you add the the required Gazebo models (or just drag and drop some of the existing ones into your simulated world).

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2013-11-05 00:42:17 -0500 )edit

answered 2013-11-04 02:19:26 -0500

V-Rep should be interesting: . You can try it without spending much time, because using the build-in models is very intuitive.

You can also look at MORSE.

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Thank you Michael, V-REP is currently the best candidate. However the main drawback - AFAIK - is that it lacks realistic outdoor scenarios.

kr1zz gravatar image kr1zz  ( 2013-11-04 02:23:07 -0500 )edit

Also, I did not know MORSE, I will take a look at it, thank you again.

kr1zz gravatar image kr1zz  ( 2013-11-04 03:05:07 -0500 )edit

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Asked: 2013-11-03 23:32:13 -0500

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Last updated: Nov 04 '13