A simple gazebo simulator for inspection project. Currently robot model follows the DJI inspection setup (with g2, imu and gimbal camera).
1 Install dependencies of gazebo and joy.
sudo apt-get install ros-indigo-joy ros-indigo-gazebo*
2 Open a new terminal, start gazebo server and client. This should load the DJI matrice robot model and a bridge model:
roslaunch dji_gazebo dji.launch
3 Open another new terminal, start g2_control. This step makes g2 spinning and publish point cloud in robot body frame:
roslaunch g2_control g2_control.launch
4 Open a third terminal, start robot control node. This makes the robot listens to a /dji_sim/target_pose topic and is controlled to reach the goal:
roslaunch robot_control robot_control.launch
Now if you have a joystick, you can drive the robot now. Make sure to adjust the device name in robot_control/launch/js_control.launch. Alternatively you can publish your topic using
rostopic pub -r 10 /dji_sim/target_pose geometry_msgs/Pose "{position: {z: 1.0}, orientation: {w: 1.0}}"
5 Open the fourth terminal to start localization.
roslaunch lidar_ekf dji_gazebo.launch
6 By default, gimbal stays in zero configuration. It listens to /dji_sim/gimbal_target such that gimbal orientation is controlled in robot body frame.
roslaunch gimbal_control gimbal_control.launch
7 You should see the simulation like following figure.
- Weikun Zhen (zhenwk@gmail.com)
This software is BSD licensed.
Copyright (c) 2017, Carnegie Mellon University All rights reserved.
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