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actions-user committed Sep 10, 2024
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178 changes: 103 additions & 75 deletions _02_examples/gazebo/project_gazebo/index.html
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2 changes: 1 addition & 1 deletion _02_examples/multirotor_simulator/project_multirotor_simulator/index.html
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Expand Up @@ -422,7 +422,7 @@
<p>It will also open a keyboard teleoperation (argument <code class="docutils literal notranslate"><span class="pre">-t</span></code>), which you can use to teleoperate the swarm with the <a class="reference internal" href="../../../_06_user_interfaces/_keyboard_teleoperation/index.html#user-interfaces-keyboard-teleoperation"><span class="std std-ref">aerostack2 keyboard teleoperation user interface</span></a>.</p>
<p>A window like the following image should popup:</p>
<figure class="align-default" id="id2">
<a class="with-shadow reference internal image-reference" href="../../../_images/keyboard_swarm_view3.png"><img alt="../../../_images/keyboard_swarm_view3.png" class="with-shadow" src="../../../_images/keyboard_swarm_view3.png" style="width: 804.5px; height: 260.5px;" /></a>
<a class="with-shadow reference internal image-reference" href="../../../_images/keyboard_swarm_view2.png"><img alt="../../../_images/keyboard_swarm_view2.png" class="with-shadow" src="../../../_images/keyboard_swarm_view2.png" style="width: 804.5px; height: 260.5px;" /></a>
<figcaption>
<p><span class="caption-text">Keyboard teleoperation</span><a class="headerlink" href="#id2" title="Link to this image"></a></p>
</figcaption>
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99 changes: 64 additions & 35 deletions _03_aerial_platforms/_gazebo_simulation/index.html
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Expand Up @@ -632,32 +632,61 @@ <h3><a class="toc-backref" href="#id17" role="doc-backlink">Gimbal</a><a class="
<p><span class="caption-text">Hexrotor base model</span><a class="headerlink" href="#id6" title="Link to this image"></a></p>
</figcaption>
</figure>
<p>In order to add an aerial model with sensors attached to it to the simulated world, Aerostack2 uses a configuration file, with JSON format, with the following structure:</p>
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
<span class="w"> </span><span class="nt">&quot;world_name&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;empty&quot;</span><span class="p">,</span>
<span class="w"> </span><span class="nt">&quot;drones&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">&quot;model_type&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;quadrotor_base&quot;</span><span class="p">,</span>
<span class="w"> </span><span class="nt">&quot;model_name&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;drone_sim_0&quot;</span><span class="p">,</span>
<span class="w"> </span><span class="nt">&quot;xyz&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">[</span><span class="w"> </span><span class="mf">1.0</span><span class="p">,</span><span class="w"> </span><span class="mf">1.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.3</span><span class="w"> </span><span class="p">],</span>
<span class="w"> </span><span class="nt">&quot;rpy&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">[</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="w"> </span><span class="p">],</span>
<span class="w"> </span><span class="nt">&quot;payload&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">&quot;model_type&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;gps&quot;</span><span class="p">,</span>
<span class="w"> </span><span class="nt">&quot;model_name&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;gps0&quot;</span>
<span class="w"> </span><span class="p">},</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">&quot;model_name&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;gimbal&quot;</span><span class="p">,</span>
<span class="w"> </span><span class="nt">&quot;model_type&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;gimbal_speed&quot;</span><span class="p">,</span>
<span class="w"> </span><span class="nt">&quot;payload&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">&quot;model_name&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;hd_camera0&quot;</span><span class="p">,</span>
<span class="w"> </span><span class="nt">&quot;model_type&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;hd_camera&quot;</span>
<span class="w"> </span><span class="p">}</span>
<span class="w"> </span><span class="p">}</span>
<span class="w"> </span><span class="p">]</span>
<span class="w"> </span><span class="p">}</span>
<span class="w"> </span><span class="p">]</span>
<span class="p">}</span>
<p>In order to add an aerial model with sensors attached to it to the simulated world, Aerostack2 uses a configuration file, with YAML format, with the following structure:</p>
<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="nt">world_name</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;empty&quot;</span>
<span class="nt">drones</span><span class="p">:</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">model_name</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;drone0&quot;</span>
<span class="w"> </span><span class="nt">model_type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;quadrotor_base&quot;</span>
<span class="w"> </span><span class="nt">xyz</span><span class="p">:</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">-2.0</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.0</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.3</span>
<span class="w"> </span><span class="nt">rpy</span><span class="p">:</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.0</span>
<span class="w"> </span><span class="nt">flight_time</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">60</span>
<span class="w"> </span><span class="nt">payload</span><span class="p">:</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">model_name</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;hd_camera0&quot;</span>
<span class="w"> </span><span class="nt">model_type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;hd_camera&quot;</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">model_name</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;gimbal0&quot;</span>
<span class="w"> </span><span class="nt">model_type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;gimbal_position&quot;</span>
<span class="w"> </span><span class="nt">payload</span><span class="p">:</span>
<span class="w"> </span><span class="nt">model_name</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;hd_camera1&quot;</span>
<span class="w"> </span><span class="nt">model_type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;hd_camera&quot;</span>

<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">model_name</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;drone1&quot;</span>
<span class="w"> </span><span class="nt">model_type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;quadrotor_base&quot;</span>
<span class="w"> </span><span class="nt">xyz</span><span class="p">:</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">2.0</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.0</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.3</span>
<span class="w"> </span><span class="nt">rpy</span><span class="p">:</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.0</span>
<span class="w"> </span><span class="nt">flight_time</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">60</span>
<span class="w"> </span><span class="nt">payload</span><span class="p">:</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">model_name</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;gimbal1&quot;</span>
<span class="w"> </span><span class="nt">model_type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;gimbal_speed&quot;</span>
<span class="w"> </span><span class="nt">payload</span><span class="p">:</span>
<span class="w"> </span><span class="nt">model_name</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;hd_camera1&quot;</span>
<span class="w"> </span><span class="nt">model_type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;hd_camera&quot;</span>

<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">model_name</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;drone2&quot;</span>
<span class="w"> </span><span class="nt">model_type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;quadrotor_base&quot;</span>
<span class="w"> </span><span class="nt">xyz</span><span class="p">:</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.0</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.0</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.3</span>
<span class="w"> </span><span class="nt">rpy</span><span class="p">:</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.0</span>
<span class="w"> </span><span class="nt">flight_time</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">60</span>
<span class="w"> </span><span class="nt">payload</span><span class="p">:</span>
<span class="w"> </span><span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">model_name</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;hd_camera2&quot;</span>
<span class="w"> </span><span class="nt">model_type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;hd_camera&quot;</span>
</pre></div>
</div>
<p>Where:</p>
Expand Down Expand Up @@ -702,25 +731,25 @@ <h3><a class="toc-backref" href="#id17" role="doc-backlink">Gimbal</a><a class="
<td><p>string</p></td>
<td><p>Namespace of the platform, also named as drone id.</p></td>
</tr>
<tr class="row-odd"><td><p>config_file</p></td>
<tr class="row-odd"><td><p>simulation_config_file</p></td>
<td><p>string</p></td>
<td><p>Path to the simulation configuration file.</p></td>
</tr>
<tr class="row-even"><td><p>control_modes_file</p></td>
<td><p>string</p></td>
<td><p>Optional. File path with the control modes configuration. Default the one in the package.</p></td>
</tr>
<tr class="row-odd"><td><p>use_sim_time</p></td>
<td><p>bool</p></td>
<td><p>Optional. Syncronize simulation time with node time. Default false.</p></td>
<tr class="row-odd"><td><p>platform_config_file</p></td>
<td><p>string</p></td>
<td><p>Optional. File path with additional platform parameters.</p></td>
</tr>
<tr class="row-even"><td><p>enable_takeoff_platform</p></td>
<td><p>bool</p></td>
<td><p>Optional. Enable takeoff by platfom. Default false.</p></td>
<tr class="row-even"><td><p>log_level</p></td>
<td><p>string</p></td>
<td><p>Optional. Set Logging level. Default ‘info’.</p></td>
</tr>
<tr class="row-odd"><td><p>enable_land_platform</p></td>
<tr class="row-odd"><td><p>use_sim_time</p></td>
<td><p>bool</p></td>
<td><p>Optional. Enable land by platfom. Default false.</p></td>
<td><p>Optional. Syncronize simulation time with node time. Default false.</p></td>
</tr>
</tbody>
</table>
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