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Teleoperation with Rotors simulator

Martin Molina edited this page Jul 25, 2019 · 1 revision

Rotors is a computer program (based on the simulator Gazebo) that simulates the dynamics of a quadrotor. With this project, you can launch Aerostack with Rotors and teleoperate the drone using the keyboard. After installing this project, perform the following steps:

  1. Execute the ROS master node:

     $ roscore
    
  2. Open another terminal and change your current directory to the folder that contains the launcher of this project:

      $ cd $AEROSTACK_STACK/projects/teleoperation_rotors_simulation
    
  3. Execute the script that launches Gazebo for this project:

     $ ./launcher_gazebo.sh
    

    A Gazebo window is presented with a simulated drone.

  4. Execute the script that launches the Aerostack components for this project:

     $ ./main_launcher.sh
    

    A set of terminals with different tabs is presented. Select the tab corresponding to the drone interface:

Aerostack now is ready to operate the simulated drone. Teleoperate the drone with the alphanumeric interface using the appropriate keys. Here you can see how to use the keyboard:

Here there is a video that shows the execution of this project:

Python Mission

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