RotorS UAV gazebo simulation

This repository houses UAV RotorS simuation for analysis and development purposes. RotorS simulation framework is originallly developed at Autonomous System Lab, ETH Zurich. Please visit RotorS here for main repository.

Quick Start

If you don't have ROS workspace yet you can do so by:

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace  # initialize your catkin workspace
$ cd ~/catkin_ws/
$ catkin init
$ cd ~/catkin_ws/src
$ git clone -b RotorS https://github.com/Marslanali/cpp-rotors-simulation.git 

Build your workspace with python_catkin_tools (therefore you need python_catkin_tools)

$ rosdep install --from-paths src -i
$ catkin build

Add sourcing to your .bashrc file

$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

RotorS gazebo OctoMap simulations

If you don't have ROS workspace yet you can do so by

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace  # initialize your catkin workspace
$ cd ~/catkin_ws/
$ catkin init
$ cd ~/catkin_ws/src
$ git clone -b RotorS-octomap https://github.com/Marslanali/cpp-uav-simulations.git

Build your workspace with python_catkin_tools (therefore you need python_catkin_tools)

$ rosdep install --from-paths src -i
$ catkin build

Add sourcing to your .bashrc file

$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

Install the OctoMap library:

The OctoMap library is an open source library for generating volumetric 3D environment models from sensor data. This model data can then be used by a drone for navigation and obstacle avoidance.

sudo apt-get install ros-kinetic-octomap ros-kinetic-octomap-mapping
rosdep install octomap_mapping
rosmake octomap_mapping

Now, open ~/catkin_ws/src/rotors_simulator/rotors_gazebo/CMakeLists.txt and add the following lines to the bottom of the file

find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_libraries(${OCTOMAP_LIBRARIES})

Open ~/catkin_ws/src/rotors_simulator/rotors_gazebo/package.xml and add the following lines

<build_depend>octomap</build_depend>
<run_depend>octomap</run_depend>

Open rosed octomap_server octomap_tracking_server.launch

and change the two following lines:

<param name="frame_id" type="string" value="map" />
...
<!--remap from="cloud_in" to="/rgbdslam/batch_clouds" /-->

to:

<param name="frame_id" type="string" value="world" />
...
<remap from="cloud_in" to="/firefly/vi_sensor/camera_depth/depth/points" />

Running the simulation

Run the following three lines in separate terminal windows. This opens up Gazebo, Rviz and an octomap server.

roslaunch rotors_gazebo mav_hovering_example_with_vi_sensor.launch  mav_name:=firefly
roslaunch octomap_server octomap_tracking_server.launch

In Rviz, change the field 'Fixed Frame' from 'map' to 'world' in the top left of the window. Now click the add button in the bottom left and select MarkerArray. Then double click the MarkerArray and change 'Marker Topic' from '/free_cells_vis_array' to '/occupied_cells_vis_array'.

Now you should see a part of the floor.

In the Gazebo window, insert a cube in front of the red rotors and you should see it in Rviz.

Flexible Collision Library (FCL)

FCL is MoveIt’s default collision checker, their official install instructions can be found here.

sudo apt -qq install libccd-dev

Clone the repo into your catkin workspace:

git clone https://github.com/flexible-collision-library/fcl
cd fcl

Pick the correct version depending on the version of MoveIt you use:

git checkout fcl-0.5   # for kinetic
git checkout master    # for melodic+

Next manually add a package.xml as used in the ROS release wrapper:

wget https://raw.githubusercontent.com/ros-gbp/fcl-release/debian/jade/fcl/package.xml

mkdir build
cd build
cmake ..
make
sudo make all

Open Motion Planning Library

sudo apt-get -y install ros-kinetic-ompl*

Error

/usr/bin/ld: cannot find -loctomap
/usr/bin/ld: cannot find -loctomath
collect2: error: ld returned 1 exit status
make[2]: *** [/home/arslan/catkin_ws/devel/.private/path_planning/lib/path_planning/old_path_planning] Error 1
make[1]: *** [CMakeFiles/old_path_planning.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: cannot find -loctomap
/usr/bin/ld: cannot find -loctomath
collect2: error: ld returned 1 exit status
make[2]: *** [/home/arslan/catkin_ws/devel/.private/path_planning/lib/path_planning/path_planning_node] Error 1
make[1]: *** [CMakeFiles/path_planning_node.dir/all] Error 2
make: *** [all] Error 2

Solution

sudo apt install liboctomap-dev