On Modeling a new drone

[MicheleBolognini]

Hello MRS team,

as I am considering using your MRS UAV system for research in my projects, I need to ask some questions which I think will be helpful to many others too. The most important one being the following:

How can I model a drone that is different from the ones already included among your options?
My approach would be to find the ROS/Gazebo files that describe your drones, copy them in my own workspace and modify them, but I am unable to find them. Are they contained in the uav_core package?
Also, do you suggest a different method?

Thanks
Michele

[spurnvoj]

Hi Michele,
our drones are specified using xacro files which make possible to spawn drones with different settings. Our spawning scripts and setting of drones are in package mrs_simulation, which is part of the simulation repository of the mrs_uav_system. You will probably find it in ~/mrs_workspace/src/simulation/ros_packages/mrs_simulation/.
The robots are specified in subfolder models/mrs_robots_description where are also 3D models of sensors and part of the drones.

Vojta