Simulation of Ultrasonic sensor for the F651 Drone

Drone was initialy developed by Students at University Of Halmstad. Their github can be found using this link: https://github.com/CPS2018

Run On Drone:

1. $ export ROS_MASTER_URI=http://10.42.0.1:11311
2. $ export ROS_IP=10.42.0.1 
3. $ export ROS_HOSTNAME=10.42.0.1
4. $ roslaunch autonomous_offboard rosserial.launch

Run On Your Compuer:

1. $ export ROS_MASTER_URI=http://10.42.0.1:11311
2. $ export ROS_IP=10.42.0.81
3. $ rosrun sonar_simulation_rviz sonar_simulation_rviz.py

In a new Terminal Run on Your Computer:

1. $ export ROS_MASTER_URI=http://10.42.0.1:11311
2. $ export ROS_IP=10.42.0.81
3. $ rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 /base_frame /sonar_left 1000 &
4. $ rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 /base_frame /sonar_right 1000 &
5. $ rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 /base_frame /sonar_front 1000 &
6. $ rosrun rviz rviz
7. When rviz opens, import the configuration file: RVIZ-3RangeBeams.rviz