This package is tested with ROS 2 (Ubuntu 22.04) and Gazebo 11.
Clone and build container
git clone git@github.com:albud187/sjtu-drone.git
git checkout -b dev
cd sjtu-drone
sh dockerbuild.sh
8000
build the package
sh dockerrun.sh
apt update
source /opt/ros/humble/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build
The folowing sensors are currently implemented:
- ~/front_camera/image_raw [sensor_msgs/msg/Image]
- ~/bottom/image_raw [sensor_msgs/msg/Image]
- ~/sonar [sensor_msgs/msg/Range]
- ~/imu [sensor_msgs/msg/Imu]
The following control topics are currently subscribed to:
- ~/cmd_vel [geometry_msgs/msg/Twist]: Steers the drone
- ~/land [std_msgs/msg/Empty]: Lands the drone
- ~/takeoff [std_msgs/msg/Empty]: Starts the drone
- ~/posctrl [std_msgs/msg/Bool]: Switch to position control
- ~/dronevel_mode [std_msgs/msg/Bool]: Change the drone steering method
- ~/reset [std_msgs/msg/Empty]: Resets the drone
The following ground truth topics are currently published:
- ~/gt_acc [geometry_msgs/msg/Twist]: ground truth acceleration
- ~/gt_pose [geometry_msgs/msg/Pose]: ground truth pose
- ~/gt_vel [geometry_msgs/msg/Twist]: ground truth velocity
The parameters of the PID controller that controls the drone and the motion noise can be changed by adapting the file sjtu_drone.urdf.xacro:
<plugin name='simple_drone' filename='libplugin_drone.so'>
<bodyName>base_link</bodyName>
<rosNamespace>drone</rosNamespace>
<imuTopic>imu</imuTopic>
<rollpitchProportionalGain>10.0</rollpitchProportionalGain>
<rollpitchDifferentialGain>5.0</rollpitchDifferentialGain>
<rollpitchLimit>0.5</rollpitchLimit>
<yawProportionalGain>2.0</yawProportionalGain>
<yawDifferentialGain>1.0</yawDifferentialGain>
<yawLimit>1.5</yawLimit>
<velocityXYProportionalGain>5.0</velocityXYProportionalGain>
<velocityXYDifferentialGain>2.3</velocityXYDifferentialGain>
<velocityXYLimit>2</velocityXYLimit>
<velocityZProportionalGain>5.0</velocityZProportionalGain>
<velocityZIntegralGain>0.0</velocityZIntegralGain>
<velocityZDifferentialGain>1.0</velocityZDifferentialGain>
<velocityZLimit>-1</velocityZLimit>
<positionXYProportionalGain>1.1</positionXYProportionalGain>
<positionXYDifferentialGain>0.0</positionXYDifferentialGain>
<positionXYIntegralGain>0.0</positionXYIntegralGain>
<positionXYLimit>5</positionXYLimit>
<positionZProportionalGain>1.0</positionZProportionalGain>
<positionZDifferentialGain>0.2</positionZDifferentialGain>
<positionZIntegralGain>0.0</positionZIntegralGain>
<positionZLimit>-1</positionZLimit>
<maxForce>30</maxForce>
<motionSmallNoise>0.05</motionSmallNoise>
<motionDriftNoise>0.03</motionDriftNoise>
<motionDriftNoiseTime>5.0</motionDriftNoiseTime>
</plugin>- No ROS communication between docker container and host
- Change of ROS namespace not working automatically for plugin_drone when changed in spawn_drone.py
- TODO: Change to gazebo_ros::Node::SharedPtr