├── .gitignore ├── README.md ├── cvg_sim_gazebo ├── CMakeLists.txt ├── Media │ └── models │ │ ├── 120m_landscape_smooth_tri.dae │ │ ├── 120m_landscape_smooth_tri.jpg │ │ ├── 120m_landscape_smooth_tri.stl │ │ ├── 3boxes_room.dae │ │ ├── Marker1.dae │ │ ├── Marker2.dae │ │ ├── coke_can.dae │ │ ├── coke_can.jpg │ │ ├── competition │ │ ├── end.dae │ │ ├── end.jpg │ │ ├── start.dae │ │ └── start.jpg │ │ ├── cube.dae │ │ ├── cvg_logo.dae │ │ ├── cylinder.dae │ │ ├── garching_kitchen.dae │ │ ├── garching_kitchen2.dae │ │ ├── grass_ground.dae │ │ ├── marker │ │ ├── alpha.dae │ │ ├── beta.dae │ │ ├── cent.dae │ │ ├── delta.dae │ │ ├── dollar.dae │ │ ├── epsilon.dae │ │ ├── eta.dae │ │ ├── iota.dae │ │ ├── kappa.dae │ │ ├── marker.dae │ │ ├── marker │ │ │ ├── Marker1.png │ │ │ ├── alpha.png │ │ │ ├── beta.png │ │ │ ├── cent.png │ │ │ ├── delta.png │ │ │ ├── dollar.png │ │ │ ├── epsilon.png │ │ │ ├── eta.png │ │ │ ├── iota.png │ │ │ ├── kappa.png │ │ │ ├── rail.png │ │ │ ├── theta.png │ │ │ ├── upsilon.png │ │ │ └── zeta.png │ │ ├── theta.dae │ │ ├── upsilon.dae │ │ └── zeta.dae │ │ ├── milk.dae │ │ ├── test.dae │ │ ├── textures │ │ ├── AmericanCherrySwatch5.jpg │ │ ├── Marker1.png │ │ ├── Marker2.png │ │ ├── Milk.tga │ │ ├── cube.png │ │ ├── cvg_logo.png │ │ ├── cylinder.png │ │ ├── garching_kitchen_texture (copy).jpg │ │ ├── garching_kitchen_texture.jpg │ │ ├── grass_texture.jpg │ │ ├── milkboxlayout.jpeg │ │ ├── wall-texture-surface.jpg │ │ └── wood-floorboards-texture.jpg │ │ ├── tum_kitchen.dae │ │ ├── usr │ │ └── stud │ │ │ └── huangho │ │ │ └── ros_workspace │ │ │ └── cvpr-ros-internal │ │ │ └── trunk │ │ │ └── cvg_simulator │ │ │ └── cvg_sim_gazebo │ │ │ └── Media │ │ │ └── models │ │ │ └── textures │ │ │ └── wood-floorboards-texture.jpg │ │ └── wood_floor.dae ├── launch │ ├── ardrone_testworld.launch │ ├── empty_world.launch │ ├── land_station1.launch │ ├── land_station2.launch │ ├── outdoor_flight.launch │ ├── rolling_landscape_120m.launch │ ├── spawn_quadrotor.launch │ ├── spawn_quadrotor_2.launch │ └── test.launch ├── meshes │ ├── hokuyo_utm30lx │ │ ├── blender │ │ │ └── hokuyo_utm30lx.blend │ │ ├── hokuyo_utm_30lx.dae │ │ ├── hokuyo_utm_30lx.stl │ │ └── hokuyo_utm_30lxTEST_SELF_FILTER.dae │ ├── kinect_camera │ │ ├── kinect_camera_simple.dae │ │ └── kinect_camera_simple.stl │ ├── quadrotor │ │ ├── blender │ │ │ ├── quadrotor_2.blend │ │ │ ├── quadrotor_2.blend1 │ │ │ ├── quadrotor_3.blend1 │ │ │ ├── quadrotor_CAD.blend │ │ │ ├── quadrotor_CAD2.blend │ │ │ ├── quadrotor_CAD2.blend1 │ │ │ ├── quadrotor_CAD2.blend2 │ │ │ └── quadrotor_base.blend │ │ ├── quadrotor_2.dae │ │ ├── quadrotor_2.stl │ │ ├── quadrotor_3.dae │ │ ├── quadrotor_3.stl │ │ ├── quadrotor_4.dae │ │ ├── quadrotor_4.stl │ │ ├── quadrotor_base.dae │ │ └── quadrotor_base.stl │ ├── sonar_sensor │ │ ├── blender │ │ │ └── max_sonar_ez4.blend │ │ └── max_sonar_ez4.dae │ └── thermaleye_camera │ │ ├── thermaleye_camera_hector_v1.dae │ │ ├── thermaleye_camera_hector_v1.stl │ │ ├── thermaleye_camera_hector_v2.dae │ │ └── thermaleye_camera_hector_v2.stl ├── models │ ├── banner_alpha.model │ ├── banner_beta.model │ ├── banner_cent.model │ ├── banner_delta.model │ ├── banner_dollar.model │ ├── banner_epsilon.model │ ├── banner_eta.model │ ├── banner_iota.model │ ├── banner_kappa.model │ ├── banner_theta.model │ ├── banner_upsilon.model │ ├── banner_zeta.model │ ├── competition_end.model │ ├── competition_start.model │ ├── cvg_logo.model │ ├── cylinder.model │ ├── grass_ground.model │ ├── marker.model │ ├── marker_1.model │ ├── station_marker1.model │ ├── table.model │ └── wood_floor.model ├── objects │ ├── milk.urdf │ ├── station_marker1.model │ └── station_marker2.model ├── package.xml ├── urdf │ ├── quadrotor.urdf.xacro │ ├── quadrotor_base.urdf.xacro │ ├── quadrotor_sensors.urdf.xacro │ └── sensors │ │ ├── generic_camera.urdf.xacro │ │ ├── hokuyo_utm30lx.urdf.xacro │ │ └── sonar_sensor.urdf.xacro ├── worlds │ └── ardrone_testworld.world └── worlds_backup │ ├── 3boxes_room.world │ ├── competition.world │ ├── empty.world │ ├── garching_kitchen.world │ ├── rolling_landscape_120m.world │ ├── tum_kitchen.world │ └── wg_collada.world ├── cvg_sim_gazebo_plugins ├── CMakeLists.txt ├── include │ ├── hector_gazebo_plugins │ │ ├── diffdrive_plugin_6w.h │ │ ├── gazebo_ros_gps.h │ │ ├── gazebo_ros_imu.h │ │ ├── gazebo_ros_magnetic.h │ │ ├── gazebo_ros_sonar.h │ │ ├── reset_plugin.h │ │ └── sensor_model.h │ ├── hector_quadrotor_controller │ │ ├── quadrotor_simple_controller.h │ │ └── quadrotor_state_controller.h │ └── hector_quadrotor_gazebo_plugins │ │ └── gazebo_ros_baro.h ├── package.xml ├── src │ ├── cvg_sim_gazebo_plugins │ │ └── __init__.py │ ├── diffdrive_plugin_6w.cpp │ ├── gazebo_ros_baro.cpp │ ├── gazebo_ros_gps.cpp │ ├── gazebo_ros_imu.cpp │ ├── gazebo_ros_magnetic.cpp │ ├── gazebo_ros_sonar.cpp │ ├── quadrotor_simple_controller.cpp │ ├── quadrotor_state_controller.cpp │ ├── reset_plugin.cpp │ └── test_trajectory.cpp ├── srv │ └── SetBias.srv └── urdf │ ├── quadrotor_plugins.urdf.xacro │ ├── quadrotor_sensors.urdf.xacro │ └── quadrotor_simple_controller.urdf.xacro ├── cvg_sim_msgs ├── CMakeLists.txt ├── include │ └── cvg_sim_msgs │ │ ├── ControlSource.h │ │ └── RC │ │ └── functions.h ├── msg │ ├── Altimeter.msg │ ├── Altitude.msg │ ├── AttitudeCommand.msg │ ├── Compass.msg │ ├── ControllerState.msg │ ├── HeadingCommand.msg │ ├── HeightCommand.msg │ ├── MotorCommand.msg │ ├── MotorPWM.msg │ ├── MotorStatus.msg │ ├── PositionXYCommand.msg │ ├── RC.msg │ ├── RawImu.msg │ ├── RawMagnetic.msg │ ├── RawRC.msg │ ├── RuddersCommand.msg │ ├── ServoCommand.msg │ ├── Supply.msg │ ├── ThrustCommand.msg │ ├── VelocityXYCommand.msg │ ├── VelocityZCommand.msg │ └── YawrateCommand.msg ├── package.xml └── src │ └── cvg_sim_msgs │ ├── __init__.py │ └── __init__.pyc ├── message_to_tf ├── CMakeLists.txt ├── package.xml └── src │ └── message_to_tf.cpp ├── readme.txt └── tum_simulator ├── CMakeLists.txt └── package.xml /.gitignore: -------------------------------------------------------------------------------- 1 | 2 | # Compiled Object files 3 | *.slo 4 | *.lo 5 | *.o 6 | 7 | # Compiled Dynamic libraries 8 | *.so 9 | *.dylib 10 | 11 | # Compiled Static libraries 12 | *.lai 13 | *.la 14 | *.a 15 | 16 | 17 | *.*~ 18 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | tum_simulator ported to Hydro 2 | ============= 3 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/Media/models/120m_landscape_smooth_tri.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/tum-vision/tum_simulator/a020d893b248cd5d14a51d3441fd67e6b124ab28/cvg_sim_gazebo/Media/models/120m_landscape_smooth_tri.jpg 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https://raw.githubusercontent.com/tum-vision/tum_simulator/a020d893b248cd5d14a51d3441fd67e6b124ab28/cvg_sim_gazebo/meshes/thermaleye_camera/thermaleye_camera_hector_v2.stl -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/banner_alpha.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/banner_beta.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/banner_cent.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/banner_delta.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/banner_dollar.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/banner_epsilon.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/banner_eta.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/banner_iota.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/banner_kappa.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/banner_theta.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/banner_upsilon.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/banner_zeta.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/competition_end.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/competition_start.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/cvg_logo.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/cylinder.model: -------------------------------------------------------------------------------- 1 | 2 | 19 | > 20 | 0 0 0 21 | 0 0 0 22 | true 23 | 24 | 25 | 1.0 1.0 1.0 26 | cylinder.dae 27 | true 28 | 29 | 1.0 1.0 1.0 30 | cylinder.dae 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/grass_ground.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/marker.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/marker_1.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/station_marker1.model: -------------------------------------------------------------------------------- 1 | 2 | 19 | > 20 | 0 0 0 21 | 0 0 0 22 | true 23 | 24 | 25 | 1.0 1.0 1.0 26 | Marker1.dae 27 | true 28 | 29 | 1.0 1.0 1.0 30 | Marker1.dae 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/table.model: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/models/wood_floor.model: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/objects/milk.urdf: -------------------------------------------------------------------------------- 1 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/objects/station_marker1.model: -------------------------------------------------------------------------------- 1 | 2 | 19 | > 20 | 0 0 0 21 | 0 0 0 22 | true 23 | 24 | 25 | 1.0 1.0 1.0 26 | Marker1.dae 27 | true 28 | 29 | 1.0 1.0 1.0 30 | Marker1.dae 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/objects/station_marker2.model: -------------------------------------------------------------------------------- 1 | 2 | 19 | > 20 | 0 0 0 21 | 0 0 0 22 | true 23 | 24 | 25 | 1.0 1.0 1.0 26 | Marker2.dae 27 | true 28 | 29 | 1.0 1.0 1.0 30 | Marker2.dae 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | cvg_sim_gazebo 4 | 0.0.0 5 | The cvg_sim_gazebo package 6 | 7 | 8 | 9 | 10 | elliot 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | catkin 43 | gazebo_ros 44 | gazebo_ros 45 | cvg_sim_gazebo_plugins 46 | 47 | 48 | 49 | 50 | 51 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/urdf/quadrotor.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/urdf/quadrotor_base.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | false 40 | 41 | 42 | 43 | 44 | 45 | 46 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/urdf/quadrotor_sensors.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/urdf/sensors/generic_camera.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | ${update_rate} 73 | 74 | ${hfov} 75 | 76 | ${res_x} 77 | ${res_y} 78 | ${image_format} 79 | 80 | 81 | 0.01 82 | 0.01 83 | 100 84 | 85 | 86 | 87 | /${sim_name}/${name} 88 | true 89 | ${update_rate} 90 | /${sim_name}/${name}/image_raw 91 | /${sim_name}/${name}/camera_info 92 | ardrone_base_${name}cam 93 | 94 | 95 | true 96 | PR2/Blue 97 | 98 | 99 | 100 | 101 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/urdf/sensors/hokuyo_utm30lx.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | ${ray_count} 41 | ${ray_count} 42 | 1 43 | 44 | 0.0 0.0 0.0 45 | false 46 | 47 | ${min_angle} 48 | ${max_angle} 49 | 50 | 0.08 51 | 30.0 52 | 0.01 53 | ${update_rate} 54 | 55 | 0.005 56 | true 57 | ${update_rate} 58 | ${ros_topic} 59 | ${name}_frame 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/urdf/sensors/sonar_sensor.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | ${update_rate} 39 | 40 | 41 | ${min_range} 42 | ${max_range} 43 | 0.01 44 | 45 | 46 | 47 | ${ray_count} 48 | -${field_of_view/2} 49 | ${field_of_view/2} 50 | 51 | 52 | ${ray_count} 53 | -${field_of_view/2} 54 | ${field_of_view/2} 55 | 56 | 57 | 58 | 59 | 60 | 0.000 61 | ${ros_topic} 62 | ${name}_link 63 | 64 | 65 | 66 | 67 | 68 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/worlds_backup/3boxes_room.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/worlds_backup/empty.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/worlds_backup/garching_kitchen.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/worlds_backup/rolling_landscape_120m.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/worlds_backup/tum_kitchen.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | -------------------------------------------------------------------------------- /cvg_sim_gazebo/worlds_backup/wg_collada.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | -------------------------------------------------------------------------------- /cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_6w.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Gazebo - Outdoor Multi-Robot Simulator 3 | * Copyright (C) 2003 4 | * Nate Koenig & Andrew Howard 5 | * 6 | * This program is free software; you can redistribute it and/or modify 7 | * it under the terms of the GNU General Public License as published by 8 | * the Free Software Foundation; either version 2 of the License, or 9 | * (at your option) any later version. 10 | * 11 | * This program is distributed in the hope that it will be useful, 12 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | * GNU General Public License for more details. 15 | * 16 | * You should have received a copy of the GNU General Public License 17 | * along with this program; if not, write to the Free Software 18 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 19 | * 20 | */ 21 | /* 22 | * Desc: ROS interface to a Position2d controller for a Differential drive. 23 | * Author: Daniel Hewlett (adapted from Nathan Koenig) 24 | */ 25 | #ifndef DIFFDRIVE_PLUGIN_HH 26 | #define DIFFDRIVE_PLUGIN_HH 27 | 28 | #include 29 | 30 | #include "common/Plugin.hh" 31 | #include "common/Time.hh" 32 | //#include "physics/physics.h" 33 | //#include "transport/TransportTypes.hh" 34 | //#include "msgs/MessageTypes.hh" 35 | //#include "common/Time.hh" 36 | //#include "common/Events.hh" 37 | 38 | // ROS 39 | #include 40 | #include 41 | #include 42 | #include 43 | #include 44 | 45 | // Custom Callback Queue 46 | #include 47 | #include 48 | 49 | // Boost 50 | #include 51 | #include 52 | 53 | namespace gazebo 54 | { 55 | 56 | class DiffDrivePlugin6W : public ModelPlugin 57 | { 58 | 59 | public: 60 | DiffDrivePlugin6W(); 61 | virtual ~DiffDrivePlugin6W(); 62 | 63 | protected: 64 | virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); 65 | virtual void Reset(); 66 | virtual void Update(); 67 | 68 | private: 69 | void publish_odometry(); 70 | void GetPositionCmd(); 71 | 72 | physics::LinkPtr link; 73 | physics::WorldPtr world; 74 | physics::JointPtr joints[6]; 75 | 76 | float wheelSep; 77 | float wheelDiam; 78 | float torque; 79 | float wheelSpeed[2]; 80 | 81 | // Simulation time of the last update 82 | common::Time prevUpdateTime; 83 | 84 | bool enableMotors; 85 | float odomPose[3]; 86 | float odomVel[3]; 87 | 88 | // ROS STUFF 89 | ros::NodeHandle* rosnode_; 90 | ros::Publisher pub_; 91 | ros::Subscriber sub_; 92 | tf::TransformBroadcaster *transform_broadcaster_; 93 | nav_msgs::Odometry odom_; 94 | std::string tf_prefix_; 95 | 96 | boost::mutex lock; 97 | 98 | std::string robotNamespace; 99 | std::string topicName; 100 | std::string linkName; 101 | 102 | // Custom Callback Queue 103 | ros::CallbackQueue queue_; 104 | boost::thread callback_queue_thread_; 105 | void QueueThread(); 106 | 107 | // DiffDrive stuff 108 | void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg); 109 | 110 | float x_; 111 | float rot_; 112 | bool alive_; 113 | 114 | // Pointer to the update event connection 115 | event::ConnectionPtr updateConnection; 116 | }; 117 | 118 | } 119 | 120 | #endif 121 | 122 | -------------------------------------------------------------------------------- /cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_gps.h: -------------------------------------------------------------------------------- 1 | //================================================================================================= 2 | // Copyright (c) 2012, Johannes Meyer, TU Darmstadt 3 | // All rights reserved. 4 | 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are met: 7 | // * Redistributions of source code must retain the above copyright 8 | // notice, this list of conditions and the following disclaimer. 9 | // * Redistributions in binary form must reproduce the above copyright 10 | // notice, this list of conditions and the following disclaimer in the 11 | // documentation and/or other materials provided with the distribution. 12 | // * Neither the name of the Flight Systems and Automatic Control group, 13 | // TU Darmstadt, nor the names of its contributors may be used to 14 | // endorse or promote products derived from this software without 15 | // specific prior written permission. 16 | 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 18 | // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 19 | // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 20 | // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 21 | // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 22 | // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 23 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 24 | // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 26 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 27 | //================================================================================================= 28 | 29 | #ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H 30 | #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H 31 | 32 | #include "common/Plugin.hh" 33 | #include "common/Time.hh" 34 | 35 | #include 36 | #include 37 | #include 38 | #include 39 | 40 | namespace gazebo 41 | { 42 | 43 | class GazeboRosGps : public ModelPlugin 44 | { 45 | public: 46 | GazeboRosGps(); 47 | virtual ~GazeboRosGps(); 48 | 49 | protected: 50 | virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); 51 | virtual void Reset(); 52 | virtual void Update(); 53 | 54 | private: 55 | /// \brief The parent World 56 | physics::WorldPtr world; 57 | 58 | /// \brief The link referred to by this plugin 59 | physics::LinkPtr link; 60 | 61 | ros::NodeHandle* node_handle_; 62 | ros::Publisher fix_publisher_; 63 | ros::Publisher velocity_publisher_; 64 | 65 | sensor_msgs::NavSatFix fix_; 66 | geometry_msgs::Vector3Stamped velocity_; 67 | 68 | std::string namespace_; 69 | std::string link_name_; 70 | std::string frame_id_; 71 | std::string fix_topic_; 72 | std::string velocity_topic_; 73 | 74 | double reference_latitude_; 75 | double reference_longitude_; 76 | double reference_heading_; 77 | double reference_altitude_; 78 | sensor_msgs::NavSatStatus::_status_type status_; 79 | sensor_msgs::NavSatStatus::_service_type service_; 80 | 81 | SensorModel3 position_error_model_; 82 | SensorModel3 velocity_error_model_; 83 | 84 | /// \brief save last_time 85 | common::Time last_time; 86 | common::Time update_period; 87 | 88 | // Pointer to the update event connection 89 | event::ConnectionPtr updateConnection; 90 | }; 91 | 92 | } // namespace gazebo 93 | 94 | #endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H 95 | -------------------------------------------------------------------------------- /cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_magnetic.h: -------------------------------------------------------------------------------- 1 | //================================================================================================= 2 | // Copyright (c) 2012, Johannes Meyer, TU Darmstadt 3 | // All rights reserved. 4 | 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are met: 7 | // * Redistributions of source code must retain the above copyright 8 | // notice, this list of conditions and the following disclaimer. 9 | // * Redistributions in binary form must reproduce the above copyright 10 | // notice, this list of conditions and the following disclaimer in the 11 | // documentation and/or other materials provided with the distribution. 12 | // * Neither the name of the Flight Systems and Automatic Control group, 13 | // TU Darmstadt, nor the names of its contributors may be used to 14 | // endorse or promote products derived from this software without 15 | // specific prior written permission. 16 | 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 18 | // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 19 | // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 20 | // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 21 | // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 22 | // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 23 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 24 | // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 26 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 27 | //================================================================================================= 28 | 29 | #ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H 30 | #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H 31 | 32 | #include "common/Plugin.hh" 33 | #include "common/Time.hh" 34 | 35 | #include 36 | #include 37 | #include 38 | 39 | namespace gazebo 40 | { 41 | 42 | class GazeboRosMagnetic : public ModelPlugin 43 | { 44 | public: 45 | GazeboRosMagnetic(); 46 | virtual ~GazeboRosMagnetic(); 47 | 48 | protected: 49 | virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); 50 | virtual void Reset(); 51 | virtual void Update(); 52 | 53 | private: 54 | /// \brief The parent World 55 | physics::WorldPtr world; 56 | 57 | /// \brief The link referred to by this plugin 58 | physics::LinkPtr link; 59 | 60 | ros::NodeHandle* node_handle_; 61 | ros::Publisher publisher_; 62 | 63 | geometry_msgs::Vector3Stamped magnetic_field_; 64 | gazebo::math::Vector3 magnetic_field_world_; 65 | 66 | std::string namespace_; 67 | std::string topic_; 68 | std::string link_name_; 69 | std::string frame_id_; 70 | 71 | double magnitude_; 72 | double reference_heading_; 73 | double declination_; 74 | double inclination_; 75 | 76 | SensorModel3 sensor_model_; 77 | 78 | /// \brief save last_time 79 | common::Time last_time; 80 | common::Time update_period; 81 | 82 | // Pointer to the update event connection 83 | event::ConnectionPtr updateConnection; 84 | }; 85 | 86 | } // namespace gazebo 87 | 88 | #endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H 89 | -------------------------------------------------------------------------------- /cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_sonar.h: -------------------------------------------------------------------------------- 1 | //================================================================================================= 2 | // Copyright (c) 2012, Johannes Meyer, TU Darmstadt 3 | // All rights reserved. 4 | 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are met: 7 | // * Redistributions of source code must retain the above copyright 8 | // notice, this list of conditions and the following disclaimer. 9 | // * Redistributions in binary form must reproduce the above copyright 10 | // notice, this list of conditions and the following disclaimer in the 11 | // documentation and/or other materials provided with the distribution. 12 | // * Neither the name of the Flight Systems and Automatic Control group, 13 | // TU Darmstadt, nor the names of its contributors may be used to 14 | // endorse or promote products derived from this software without 15 | // specific prior written permission. 16 | 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 18 | // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 19 | // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 20 | // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 21 | // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 22 | // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 23 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 24 | // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 26 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 27 | //================================================================================================= 28 | 29 | #ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_SONAR_H 30 | #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_SONAR_H 31 | 32 | #include "common/Plugin.hh" 33 | #include "common/Time.hh" 34 | 35 | #include 36 | #include 37 | 38 | #include 39 | #include 40 | 41 | namespace gazebo 42 | { 43 | 44 | class GazeboRosSonar : public SensorPlugin 45 | { 46 | public: 47 | GazeboRosSonar(); 48 | virtual ~GazeboRosSonar(); 49 | 50 | protected: 51 | virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf); 52 | virtual void Reset(); 53 | virtual void Update(); 54 | 55 | private: 56 | /// \brief The parent World 57 | physics::WorldPtr world; 58 | 59 | sensors::RaySensorPtr sensor_; 60 | 61 | ros::NodeHandle* node_handle_; 62 | ros::Publisher publisher_; 63 | 64 | sensor_msgs::Range range_; 65 | 66 | std::string namespace_; 67 | std::string topic_; 68 | std::string frame_id_; 69 | 70 | SensorModel sensor_model_; 71 | 72 | /// \brief save last_time 73 | common::Time last_time; 74 | 75 | // Pointer to the update event connection 76 | event::ConnectionPtr updateConnection; 77 | }; 78 | 79 | } // namespace gazebo 80 | 81 | #endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_SONAR_H 82 | -------------------------------------------------------------------------------- /cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/reset_plugin.h: -------------------------------------------------------------------------------- 1 | //================================================================================================= 2 | // Copyright (c) 2012, Johannes Meyer, TU Darmstadt 3 | // All rights reserved. 4 | 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are met: 7 | // * Redistributions of source code must retain the above copyright 8 | // notice, this list of conditions and the following disclaimer. 9 | // * Redistributions in binary form must reproduce the above copyright 10 | // notice, this list of conditions and the following disclaimer in the 11 | // documentation and/or other materials provided with the distribution. 12 | // * Neither the name of the Flight Systems and Automatic Control group, 13 | // TU Darmstadt, nor the names of its contributors may be used to 14 | // endorse or promote products derived from this software without 15 | // specific prior written permission. 16 | 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 18 | // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 19 | // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 20 | // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 21 | // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 22 | // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 23 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 24 | // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 26 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 27 | //================================================================================================= 28 | 29 | #ifndef HECTOR_GAZEBO_PLUGINS_RESET_PLUGIN_H 30 | #define HECTOR_GAZEBO_PLUGINS_RESET_PLUGIN_H 31 | 32 | #include "common/Plugin.hh" 33 | 34 | #include 35 | 36 | namespace gazebo 37 | { 38 | 39 | class GazeboResetPlugin : public ModelPlugin 40 | { 41 | public: 42 | GazeboResetPlugin(); 43 | virtual ~GazeboResetPlugin(); 44 | 45 | protected: 46 | virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); 47 | virtual void Reset(); 48 | 49 | private: 50 | ros::NodeHandle* node_handle_; 51 | ros::Publisher publisher_; 52 | }; 53 | 54 | } // namespace gazebo 55 | 56 | #endif // HECTOR_GAZEBO_PLUGINS_RESET_PLUGIN_H 57 | -------------------------------------------------------------------------------- /cvg_sim_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_ros_baro.h: -------------------------------------------------------------------------------- 1 | //================================================================================================= 2 | // Copyright (c) 2012, Johannes Meyer, TU Darmstadt 3 | // All rights reserved. 4 | 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are met: 7 | // * Redistributions of source code must retain the above copyright 8 | // notice, this list of conditions and the following disclaimer. 9 | // * Redistributions in binary form must reproduce the above copyright 10 | // notice, this list of conditions and the following disclaimer in the 11 | // documentation and/or other materials provided with the distribution. 12 | // * Neither the name of the Flight Systems and Automatic Control group, 13 | // TU Darmstadt, nor the names of its contributors may be used to 14 | // endorse or promote products derived from this software without 15 | // specific prior written permission. 16 | 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 18 | // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 19 | // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 20 | // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 21 | // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 22 | // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 23 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 24 | // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 26 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 27 | //================================================================================================= 28 | 29 | #ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H 30 | #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H 31 | 32 | #include "gazebo/gazebo.hh" 33 | #include "common/Plugin.hh" 34 | 35 | #include 36 | #ifdef USE_MAV_MSGS 37 | #include 38 | #else 39 | #include 40 | #endif 41 | #include 42 | 43 | #include 44 | 45 | namespace gazebo 46 | { 47 | 48 | class GazeboRosBaro : public ModelPlugin 49 | { 50 | public: 51 | GazeboRosBaro(); 52 | virtual ~GazeboRosBaro(); 53 | 54 | protected: 55 | virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); 56 | virtual void Reset(); 57 | virtual void Update(); 58 | 59 | private: 60 | /// \brief The parent World 61 | physics::WorldPtr world; 62 | 63 | /// \brief The link referred to by this plugin 64 | physics::LinkPtr link; 65 | 66 | ros::NodeHandle* node_handle_; 67 | ros::Publisher height_publisher_; 68 | ros::Publisher altimeter_publisher_; 69 | 70 | #ifdef USE_MAV_MSGS 71 | mav_msgs::Height height_; 72 | #else 73 | geometry_msgs::PointStamped height_; 74 | #endif 75 | cvg_sim_msgs::Altimeter altimeter_; 76 | 77 | std::string namespace_; 78 | std::string height_topic_; 79 | std::string altimeter_topic_; 80 | std::string link_name_; 81 | std::string frame_id_; 82 | 83 | double elevation_; 84 | double qnh_; 85 | 86 | SensorModel sensor_model_; 87 | 88 | /// \brief save last_time 89 | common::Time last_time; 90 | common::Time update_period; 91 | 92 | // Pointer to the update event connection 93 | event::ConnectionPtr updateConnection; 94 | }; 95 | 96 | } // namespace gazebo 97 | 98 | #endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H 99 | -------------------------------------------------------------------------------- /cvg_sim_gazebo_plugins/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | cvg_sim_gazebo_plugins 4 | 0.0.0 5 | The cvg_sim_gazebo_plugins package 6 | 7 | 8 | 9 | 10 | elliot 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | catkin 43 | ardrone_autonomy 44 | gazebo_ros 45 | geometry_msgs 46 | image_transport 47 | nav_msgs 48 | roscpp 49 | sensor_msgs 50 | std_msgs 51 | ardrone_autonomy 52 | gazebo_ros 53 | geometry_msgs 54 | image_transport 55 | nav_msgs 56 | roscpp 57 | sensor_msgs 58 | std_msgs 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | -------------------------------------------------------------------------------- /cvg_sim_gazebo_plugins/src/cvg_sim_gazebo_plugins/__init__.py: -------------------------------------------------------------------------------- 1 | #autogenerated by ROS python message generators -------------------------------------------------------------------------------- /cvg_sim_gazebo_plugins/src/reset_plugin.cpp: -------------------------------------------------------------------------------- 1 | //================================================================================================= 2 | // Copyright (c) 2012, Johannes Meyer, TU Darmstadt 3 | // All rights reserved. 4 | 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are met: 7 | // * Redistributions of source code must retain the above copyright 8 | // notice, this list of conditions and the following disclaimer. 9 | // * Redistributions in binary form must reproduce the above copyright 10 | // notice, this list of conditions and the following disclaimer in the 11 | // documentation and/or other materials provided with the distribution. 12 | // * Neither the name of the Flight Systems and Automatic Control group, 13 | // TU Darmstadt, nor the names of its contributors may be used to 14 | // endorse or promote products derived from this software without 15 | // specific prior written permission. 16 | 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 18 | // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 19 | // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 20 | // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 21 | // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 22 | // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 23 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 24 | // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 26 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 27 | //================================================================================================= 28 | 29 | #include 30 | #include "common/Events.hh" 31 | 32 | #include 33 | 34 | namespace gazebo { 35 | 36 | GazeboResetPlugin::GazeboResetPlugin() 37 | { 38 | } 39 | 40 | //////////////////////////////////////////////////////////////////////////////// 41 | // Destructor 42 | GazeboResetPlugin::~GazeboResetPlugin() 43 | { 44 | node_handle_->shutdown(); 45 | delete node_handle_; 46 | } 47 | 48 | //////////////////////////////////////////////////////////////////////////////// 49 | // Load the controller 50 | void GazeboResetPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) 51 | { 52 | if (!ros::isInitialized()) 53 | { 54 | int argc = 0; 55 | char** argv = NULL; 56 | ros::init(argc,argv, "gazebo", ros::init_options::NoSigintHandler|ros::init_options::AnonymousName); 57 | } 58 | 59 | node_handle_ = new ros::NodeHandle; 60 | publisher_ = node_handle_->advertise("/syscommand", 1); 61 | } 62 | 63 | //////////////////////////////////////////////////////////////////////////////// 64 | // Reset the controller 65 | void GazeboResetPlugin::Reset() 66 | { 67 | std_msgs::String command; 68 | command.data = "reset"; 69 | publisher_.publish(command); 70 | } 71 | 72 | // Register this plugin with the simulator 73 | GZ_REGISTER_MODEL_PLUGIN(GazeboResetPlugin) 74 | 75 | } // namespace gazebo 76 | -------------------------------------------------------------------------------- /cvg_sim_gazebo_plugins/src/test_trajectory.cpp: -------------------------------------------------------------------------------- 1 | //================================================================================================= 2 | // Copyright (c) 2012, Johannes Meyer, TU Darmstadt 3 | // All rights reserved. 4 | 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are met: 7 | // * Redistributions of source code must retain the above copyright 8 | // notice, this list of conditions and the following disclaimer. 9 | // * Redistributions in binary form must reproduce the above copyright 10 | // notice, this list of conditions and the following disclaimer in the 11 | // documentation and/or other materials provided with the distribution. 12 | // * Neither the name of the Flight Systems and Automatic Control group, 13 | // TU Darmstadt, nor the names of its contributors may be used to 14 | // endorse or promote products derived from this software without 15 | // specific prior written permission. 16 | 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 18 | // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 19 | // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 20 | // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 21 | // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 22 | // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 23 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 24 | // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 26 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 27 | //================================================================================================= 28 | 29 | 30 | #include 31 | #include 32 | 33 | int main(int argc, char **argv) 34 | { 35 | ros::init(argc, argv, "test_trajectory"); 36 | ros::NodeHandle nh; 37 | ros::Publisher publisher = nh.advertise("cmd_vel", 1); 38 | geometry_msgs::Twist twist; 39 | 40 | publisher.publish(twist); 41 | ros::Duration(5.0).sleep(); 42 | 43 | double speed = 3.0; 44 | double interval = 3.0; 45 | 46 | twist.linear.z = 2.0; 47 | publisher.publish(twist); 48 | ros::Duration(interval).sleep(); 49 | 50 | twist.linear.z = 0.0; 51 | publisher.publish(twist); 52 | ros::Duration(interval).sleep(); 53 | 54 | twist.linear.x = speed; 55 | publisher.publish(twist); 56 | ros::Duration(interval).sleep(); 57 | 58 | twist.linear.x = 0.0; 59 | publisher.publish(twist); 60 | ros::Duration(interval).sleep(); 61 | 62 | twist.linear.y = speed; 63 | publisher.publish(twist); 64 | ros::Duration(interval).sleep(); 65 | 66 | twist.linear.y = 0.0; 67 | publisher.publish(twist); 68 | ros::Duration(interval).sleep(); 69 | 70 | twist.linear.x = -speed; 71 | publisher.publish(twist); 72 | ros::Duration(interval).sleep(); 73 | 74 | twist.linear.x = 0.0; 75 | publisher.publish(twist); 76 | ros::Duration(interval).sleep(); 77 | 78 | twist.linear.y = -speed; 79 | publisher.publish(twist); 80 | ros::Duration(interval).sleep(); 81 | 82 | twist.linear.y = 0.0; 83 | publisher.publish(twist); 84 | ros::Duration(interval).sleep(); 85 | 86 | twist.linear.z = -1.0; 87 | publisher.publish(twist); 88 | ros::Duration(interval).sleep(); 89 | 90 | twist.linear.z = 0.0; 91 | publisher.publish(twist); 92 | ros::Duration(interval).sleep(); 93 | 94 | return 0; 95 | } 96 | -------------------------------------------------------------------------------- /cvg_sim_gazebo_plugins/srv/SetBias.srv: -------------------------------------------------------------------------------- 1 | geometry_msgs/Vector3 bias 2 | --- 3 | -------------------------------------------------------------------------------- /cvg_sim_gazebo_plugins/urdf/quadrotor_plugins.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | base_link 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /cvg_sim_gazebo_plugins/urdf/quadrotor_sensors.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 8 | 9 | 14 | 15 | 16 | 17 | true 18 | 100.0 19 | base_link 20 | ardrone_base_link 21 | /ardrone/imu 22 | 0 0 0 23 | 0 24 | 0.5 0.5 0.5 25 | 0.35 0.35 0.3 26 | 0.0 0.0 0.0 27 | 0.00 0.00 0.00 28 | 0.0 29 | 0.00 30 | 31 | 32 | 33 | true 34 | 10.0 35 | base_link 36 | pressure_height 37 | altimeter 38 | 0 39 | 0.1 40 | 0.5 41 | 42 | 43 | 44 | true 45 | 10.0 46 | base_link 47 | magnetic 48 | 0 0 0 49 | 0.0 0.0 0.0 50 | 1.3e-2 1.3e-2 1.3e-2 51 | 52 | 53 | 54 | true 55 | 4.0 56 | base_link 57 | fix 58 | fix_velocity 59 | 5.0 5.0 5.0 60 | 0.1 0.1 0.1 61 | 0 0 0 62 | 0.1 0.1 0.1 63 | 64 | 65 | 66 | true 67 | 100.0 68 | base_link 69 | ground_truth/state 70 | 0.0 71 | map 72 | 73 | 74 | 75 | 76 | 77 | -------------------------------------------------------------------------------- /cvg_sim_gazebo_plugins/urdf/quadrotor_simple_controller.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 7 | 8 | 9 | 10 | 11 | 12 | true 13 | 0.0 14 | base_link 15 | ground_truth/state 16 | ardrone/imu 17 | cmd_vel 18 | 10.0 19 | 5.0 20 | 0.5 21 | 2.0 22 | 1.0 23 | 1.5 24 | 5.0 25 | 1.0 26 | 2 27 | 5.0 28 | 1.0 29 | 0.5 30 | 30 31 | 0.05 32 | 0.03 33 | 5.0 34 | 35 | 36 | 37 | true 38 | 0.0 39 | base_link 40 | ground_truth/state 41 | ardrone/imu 42 | sonar_height 43 | cmd_vel 44 | 45 | 46 | 47 | 48 | -------------------------------------------------------------------------------- /cvg_sim_msgs/include/cvg_sim_msgs/ControlSource.h: -------------------------------------------------------------------------------- 1 | //================================================================================================= 2 | // Copyright (c) 2012, Johannes Meyer, TU Darmstadt 3 | // All rights reserved. 4 | 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are met: 7 | // * Redistributions of source code must retain the above copyright 8 | // notice, this list of conditions and the following disclaimer. 9 | // * Redistributions in binary form must reproduce the above copyright 10 | // notice, this list of conditions and the following disclaimer in the 11 | // documentation and/or other materials provided with the distribution. 12 | // * Neither the name of the Flight Systems and Automatic Control group, 13 | // TU Darmstadt, nor the names of its contributors may be used to 14 | // endorse or promote products derived from this software without 15 | // specific prior written permission. 16 | 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 18 | // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 19 | // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 20 | // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 21 | // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 22 | // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 23 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 24 | // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 26 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 27 | //================================================================================================= 28 | 29 | #ifndef HECTOR_UAV_MSGS_CONTROLSOURCE_H 30 | #define HECTOR_UAV_MSGS_CONTROLSOURCE_H 31 | 32 | namespace hector_uav_msgs 33 | { 34 | typedef uint8_t ControlSource; 35 | 36 | enum { 37 | CONTROL_AUTONOMOUS = 0, 38 | CONTROL_REMOTE = 1, 39 | CONTROL_JOYSTICK = 2 40 | }; 41 | 42 | template 43 | static inline InStream& operator>>(InStream& in, ControlSource& value) { 44 | int temp; 45 | in >> temp; 46 | value = static_cast(temp); 47 | return in; 48 | } 49 | 50 | template 51 | static inline OutStream& operator<<(OutStream& out, const ControlSource& value) { 52 | return out << static_cast(value); 53 | } 54 | } 55 | 56 | #endif // HECTOR_UAV_MSGS_CONTROLSOURCE_H 57 | -------------------------------------------------------------------------------- /cvg_sim_msgs/include/cvg_sim_msgs/RC/functions.h: -------------------------------------------------------------------------------- 1 | //================================================================================================= 2 | // Copyright (c) 2012, Johannes Meyer, TU Darmstadt 3 | // All rights reserved. 4 | 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are met: 7 | // * Redistributions of source code must retain the above copyright 8 | // notice, this list of conditions and the following disclaimer. 9 | // * Redistributions in binary form must reproduce the above copyright 10 | // notice, this list of conditions and the following disclaimer in the 11 | // documentation and/or other materials provided with the distribution. 12 | // * Neither the name of the Flight Systems and Automatic Control group, 13 | // TU Darmstadt, nor the names of its contributors may be used to 14 | // endorse or promote products derived from this software without 15 | // specific prior written permission. 16 | 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 18 | // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 19 | // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 20 | // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 21 | // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 22 | // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 23 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 24 | // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 26 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 27 | //================================================================================================= 28 | 29 | #ifndef HECTOR_UAV_MSGS_RC_FUNCTIONS_H 30 | #define HECTOR_UAV_MSGS_RC_FUNCTIONS_H 31 | 32 | #include 33 | #include 34 | 35 | namespace hector_uav_msgs { 36 | 37 | static inline const char *getFunctionString(uint8_t function) 38 | { 39 | switch(function) { 40 | case RC::ROLL: return "ROLL"; 41 | case RC::PITCH: return "PITCH"; 42 | case RC::YAW: return "YAW"; 43 | case RC::STEER: return "STEER"; 44 | case RC::HEIGHT: return "HEIGHT"; 45 | case RC::THRUST: return "THRUST"; 46 | case RC::BRAKE: return "BRAKE"; 47 | } 48 | return 0; 49 | } 50 | 51 | static inline bool hasAxis(const RC& rc, RC::_axis_function_type::value_type function) 52 | { 53 | return std::find(rc.axis_function.begin(), rc.axis_function.end(), function) != rc.axis_function.end(); 54 | } 55 | 56 | static inline bool getAxis(const RC& rc, RC::_axis_function_type::value_type function, RC::_axis_type::value_type& value) 57 | { 58 | if (!rc.valid) return false; 59 | const RC::_axis_function_type::const_iterator it = std::find(rc.axis_function.begin(), rc.axis_function.end(), function); 60 | if (it == rc.axis_function.end()) return false; 61 | value = rc.axis.at(it - rc.axis_function.begin()); 62 | return true; 63 | } 64 | 65 | static inline void setAxis(RC& rc, RC::_axis_function_type::value_type function, RC::_axis_type::value_type value) 66 | { 67 | const RC::_axis_function_type::iterator it = std::find(rc.axis_function.begin(), rc.axis_function.end(), function); 68 | if (it == rc.axis_function.end()) { 69 | rc.axis_function.push_back(function); 70 | rc.axis.push_back(value); 71 | } else { 72 | rc.axis.at(it - rc.axis_function.begin()) = value; 73 | } 74 | } 75 | 76 | static inline bool hasSwitch(const RC& rc, RC::_swit_function_type::value_type function) 77 | { 78 | return std::find(rc.swit_function.begin(), rc.swit_function.end(), function) != rc.swit_function.end(); 79 | } 80 | 81 | static inline bool getSwitch(const RC& rc, RC::_swit_function_type::value_type function, RC::_swit_type::value_type& value) 82 | { 83 | if (!rc.valid) return false; 84 | const RC::_swit_function_type::const_iterator it = std::find(rc.swit_function.begin(), rc.swit_function.end(), function); 85 | if (it == rc.swit_function.end()) return false; 86 | value = rc.swit.at(it - rc.swit_function.begin()); 87 | return true; 88 | } 89 | 90 | static inline void setSwitch(RC& rc, RC::_swit_function_type::value_type function, RC::_swit_type::value_type value) 91 | { 92 | const RC::_swit_function_type::iterator it = std::find(rc.swit_function.begin(), rc.swit_function.end(), function); 93 | if (it == rc.swit_function.end()) { 94 | rc.swit_function.push_back(function); 95 | rc.swit.push_back(value); 96 | } else { 97 | rc.swit.at(it - rc.swit_function.begin()) = value; 98 | } 99 | } 100 | 101 | } // namespace hector_uav_msgs 102 | 103 | #endif // HECTOR_UAV_MSGS_RC_FUNCTIONS_H 104 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/Altimeter.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 altitude 3 | float32 pressure 4 | float32 qnh 5 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/Altitude.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 height 3 | float32 altitude 4 | float32 elevation 5 | float32 qnh 6 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/AttitudeCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 roll 3 | float32 pitch 4 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/Compass.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 magnetic_heading 3 | float32 declination 4 | 5 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/ControllerState.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint8 source 3 | 4 | uint8 mode 5 | uint8 MOTORS = 1 6 | uint8 ATTITUDE = 2 7 | uint8 VELOCITY = 4 8 | uint8 POSITION = 8 9 | uint8 HEADING = 16 10 | uint8 HEIGHT = 32 11 | 12 | uint8 state 13 | uint8 MOTORS_RUNNING = 1 14 | uint8 AIRBORNE = 2 15 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/HeadingCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 heading 3 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/HeightCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 height 3 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/MotorCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32[] force 3 | float32[] torque 4 | float32[] frequency 5 | float32[] voltage 6 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/MotorPWM.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint8[] pwm 3 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/MotorStatus.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | bool on 3 | bool running 4 | float32[] frequency 5 | uint8[] current 6 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/PositionXYCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 x 3 | float32 y 4 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/RC.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | 3 | uint8 ROLL = 1 4 | uint8 PITCH = 2 5 | uint8 YAW = 3 6 | uint8 STEER = 4 7 | uint8 HEIGHT = 5 8 | uint8 THRUST = 6 9 | uint8 BRAKE = 7 10 | 11 | uint8 status 12 | bool valid 13 | 14 | float32[] axis 15 | uint8[] axis_function 16 | 17 | int8[] swit 18 | uint8[] swit_function 19 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/RawImu.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint16[3] angular_velocity 3 | uint16[3] linear_acceleration 4 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/RawMagnetic.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float64[3] channel 3 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/RawRC.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint8 status 3 | uint16[] channel 4 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/RuddersCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 aileron 3 | float32 elevator 4 | float32 rudder 5 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/ServoCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint16[] value 3 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/Supply.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32[] voltage 3 | float32[] current 4 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/ThrustCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 thrust 3 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/VelocityXYCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 x 3 | float32 y 4 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/VelocityZCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 z 3 | -------------------------------------------------------------------------------- /cvg_sim_msgs/msg/YawrateCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 turnrate 3 | -------------------------------------------------------------------------------- /cvg_sim_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | cvg_sim_msgs 4 | 0.0.0 5 | 6 | cvg_sim_msgs contains message form for cvg_sim_gazebo_plugins. 7 | This package is based on hector_uav_msgs by Stefan Kohlbrecher, TU Darmstadt. 8 | 9 | elliot 10 | TODO 11 | 12 | catkin 13 | geometry_msgs 14 | message_generation 15 | message_runtime 16 | geometry_msgs 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /cvg_sim_msgs/src/cvg_sim_msgs/__init__.py: -------------------------------------------------------------------------------- 1 | #autogenerated by ROS python message generators -------------------------------------------------------------------------------- /cvg_sim_msgs/src/cvg_sim_msgs/__init__.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/tum-vision/tum_simulator/a020d893b248cd5d14a51d3441fd67e6b124ab28/cvg_sim_msgs/src/cvg_sim_msgs/__init__.pyc -------------------------------------------------------------------------------- /message_to_tf/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | message_to_tf 4 | 0.0.0 5 | The message_to_tf package 6 | Elliot 7 | BSD 8 | 9 | 10 | catkin 11 | geometry_msgs 12 | nav_msgs 13 | sensor_msgs 14 | tf 15 | 16 | geometry_msgs 17 | nav_msgs 18 | sensor_msgs 19 | tf 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /readme.txt: -------------------------------------------------------------------------------- 1 | 2 | 3 | These packages are used to simulate the flying robot Ardrone in ROS environment using gazebo simulator. Totally they are 4 packages. Their functions are descript as below: 4 | 5 | 1. cvg_sim_gazebo: contains object models, sensor models, quadrocopter models, flying environment information and individual launch files for each objects and pure environment without any other objects. 6 | 7 | 2. cvg_sim_gazebo_plugins: contains gazebo plugins for the quadrocopter model. quadrotor_simple_controller is used to control the robot motion and deliver navigation information, such as: /ardrone/navdata. Others are plugins for sensors in the quadrocopter, such as: IMU sensor, sonar sensor, GPS sensor. 8 | 9 | 3. message_to_tf: is a package used to create a ros node, which transfers the ros topic /ground_truth/state to a /tf topic. 10 | 11 | 4. cvg_sim_msgs: contains message forms for the simulator. 12 | 13 | Some packages are based on the tu-darmstadt-ros-pkg by Stefan Kohlbrecher, TU Darmstadt. 14 | 15 | 16 | How to run a simulation: 17 | 18 | 1. Download all the required packages, include four packages above and ardrone_autonomy package (which contains some standard message forms for ardrone simulator). 19 | 20 | 2. Build packages cvg_sim_gazebo_plugins and message_to_tf. 21 | rosmake cvg_sim_gazebo_plugins 22 | rosmake message_to_tf 23 | 24 | 3. Start a ros master by typing the following command in console 25 | roscore 26 | 27 | 4. Run a simulation by executing a launch file in cvg_test_sim package: 28 | roslaunch cvg_sim_gazebo ardrone_testworld.launch 29 | 30 | 5. You can manipulate the quadrocopter in gazebo simulator by downloading the ardrone_helpers package and using a joy-stick after calling this command: 31 | roslaunch ardrone_joystick teleop.launch 32 | 33 | 34 | Information for manipulation via joystick: 35 | 36 | 1. The L1 button starts the quadrocopter. It also works as a deadman button so that the robot will land if you release it during flight. 37 | 38 | 2. The left stick can be used to control the vx/vy-velocity. Keep in mind that these velocities are given in the local frame of the drone! 39 | 40 | 3. The right stick controls the yaw-rate and the altitude. 41 | 42 | 4. The select button can be used to switch between the two cameras. This can also be done by executing rosservice call /ardrone/togglecam. 43 | 44 | 45 | -------------------------------------------------------------------------------- /tum_simulator/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(tum_simulator) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /tum_simulator/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | tum_simulator 4 | 0.0.0 5 | The tum_simulator 6 | Elliot 7 | BSD 8 | catkin 9 | cvg_sim_msgs 10 | cvg_sim_gazebo 11 | cvg_sim_gazebo_plugins 12 | message_to_tf 13 | 14 | 15 | 16 | 17 | 18 | --------------------------------------------------------------------------------