MRSL Quadrotor Simulator

Package of Gazebo quadrotor simulator. Latest version works for Gazebo > 7.0. User can easily set up the simulation environments and the quadrotor platform using sensors provided in this package.

Stacks include:

• mrsl_models: all the CAD models
• mrsl_quadrotor_description: all the urdf and world config files
• mrsl_quadrotor_launch: example launch files
• mrsl_quadrotor_simulator: quadrotor dynamics simulator
• mrsl_quadrotor_utils: ros utils
• mrsl_mobile_object: gazebo mobile obtacle plugin
• velodyne_simulator: gazebo velodyne plugin Check each package for more details.

Requirements

Requirements

• ros (indigo+)
• gazebo (2.2+)
• gazebo_ros (2.2+)
• quadrotor_control KumarRobotics

List of Components

Robot Frame	Sensor	World	Platform Examples
Hummingbird	empty	empty	hummingbird
Pelican	empty	empty	pelican
	hokuyo	levine	pelican_laser
FLA Platform	stereo	skir	pelican_laser_rgbd
	hokuyo	wg	pelican_laser_rotate
	velodyne	pillars	pelican_rgbd
	laser_beam	D60	pelican_velodyne

Test Example

Using the example launch file in the repo

roslaunch mrsl_quadrotor_launch gazebo.launch world:=levine
roslaunch mrsl_quadrotor_launch spawn.launch mav_type:=pelican mav_name:=juliett

Dragon DDK:

Sensors: Downward facing camera, stereo, rgbd, imu.

Dependency: Clone and compile https://github.com/ATLFlight/qflight_descriptions Note: The controller launch file depends on quadrotor_control package which will be soon released (currently closed source)

• quadrotor_control KumarRobotics

roslaunch mrsl_quadrotor_launch gazebo.launch world:=empty
roslaunch mrsl_quadrotor_launch spawn.launch mav_type:=dragon_ddk mav_name:=ddk
roslaunch mrsl_quadrotor_launch controller.launch mav_type:=dragon_ddk mav_name:=ddk mass:=0.25 odom_topic:=ground_truth/odom
rosrun rqt_mav_manager rqt_mav_manager

Falcon4:

Simulating the Ouster OS1 64 beam lidar requires using a fork of the ouster_example code and installing the hector gazebo plugins

sudo apt install ros-melodic-hector-gazebo-plugins

a. Sensor: OVC3, Two OVC3 side Cams, downward facing Lidar

roslaunch mrsl_quadrotor_launch gazebo.launch world:=forest2
roslaunch mrsl_quadrotor_launch spawn.launch mav_type:=falcon4 mav_name:=falcon4
roslaunch mrsl_quadrotor_launch falcon4_control.launch mav_type:=falcon4 mav_name:=falcon4 odom_topic:=ground_truth/odom
rosrun rqt_mav_manager rqt_mav_manager

b. Sensor: Ouster OS1 64 x 512, OVC3, Two OVC3 side Cams, downward facing Lidar

roslaunch mrsl_quadrotor_launch gazebo.launch world:=forest2
roslaunch mrsl_quadrotor_launch spawn.launch mav_type:=falcon4_os1_64_512 mav_name:=falcon4_os1
roslaunch mrsl_quadrotor_launch falcon4_os1_control.launch mav_type:=falcon4_os1_64_512 mav_name:=falcon4_os1 odom_topic:=ground_truth/odom
rosrun rqt_mav_manager rqt_mav_manager

c. Sensor: Ouster OS1 16 x 256, OVC3, Two OVC3 side Cams, downward facing Lidar

roslaunch mrsl_quadrotor_launch gazebo.launch world:=forest2
roslaunch mrsl_quadrotor_launch spawn.launch mav_type:=falcon4_os1_16_256 mav_name:=falcon4_os1
roslaunch mrsl_quadrotor_launch falcon4_os1_control.launch mav_type:=falcon4_os1_16_256 mav_name:=falcon4_os1 odom_topic:=ground_truth/odom
rosrun rqt_mav_manager rqt_mav_manager

Samples

hummingbird	hummingbird_rgbd	pelican_laser_rgbd	Falcon4_OS1	mobile object

levine	pillars	D60	forest