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ALAN Gazebo Simulation

1. Introduction of Function Package

This repo is based upon AgileX Gazebo Simulation Package, which was intentionally modified for project ALAN, a framework for autonomous dynamic landing utilizing a non-robocentric approach.

! Current version does not include LED Marker Detection, which would soon be added

2. Pre-requisite

Development Environment

​ We tested it on ubuntu 20.04 + ROS Noetic desktop full

Download and install required function package

​ Download and install ros-control function package, ros-control is the robot control middleware provided by ROS

sudo apt-get install ros-noetic-ros-control

​ Download and install ros-controllers function package, ros-controllers are the kinematics plug-in of common models provided by ROS

sudo apt-get install ros-noetic-ros-controllers

​ Download and install gazebo-ros function package, gazebo-ros is the communication interface between gazebo and ROS, and connect the ROS and Gazebo

sudo apt-get install ros-noetic-gazebo-ros

​ Download and install gazebo-ros-control function package, gazebo-ros-control is the communication standard controller between ROS and Gazebo

sudo apt-get install ros-noetic-gazebo-ros-control

​ Download and install joint-state-publisher-gui package.This package is used to visualize the joint control.

sudo apt-get install ros-noetic-joint-state-publisher-gui

​ Download and install teleop-twist-keyboard function package, telop-twist-keyboard is keyboard control function package, the robot can be controlled to move forward, left, right and backward through "i", "j", "l",and "," on the keyboard

sudo apt-get install ros-noetic-teleop-twist-keyboard

3. About Usage

Create workspace, download simulation model function package and compile

​ Open a new terminal and create a workspace named alang_ws, enter in the terminal:

mkdir alang_ws

​ Enter the alang_ws folder

cd alang_ws

​ Create a folder to store function package named src

mkdir src

​ Enter the src folder

cd src

​ Initialize folder

catkin_init_workspace

​ Download simulation model function package

git clone https://github.com/HKPolyU-UAV/alan_sim.git

​ Enter the alang_ws folder

cd alang_ws

​ Confirm whether the dependency of the function package is installed

rosdep install --from-paths src --ignore-src -r -y

​ Compile

catkin_make

Run it!

​ Enter the alang_ws folder

cd alang_ws/src/alan_sim

​ Run sim.sh

./sim.sh

​ Start the simulation environment of one UGV and one UAV, as shown below.

img

Maintainer

Patrick Lo @ AIRo-Lab, RCUAS, PolyU: patty.lo@connect.polyu.hk