RotorS is a MAV gazebo simulator.
There are simulated sensors coming with the simulator such as an IMU, a generic odometry sensor, and the VI-Sensor, which can be mounted on the multirotor.
- 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
$ wstool init
$ wget https://raw.githubusercontent.com/ethz-asl/rotors_simulator/master/rotors_hil.rosinstall
$ wstool merge rotors_hil.rosinstall
$ wstool update
$ git clone [email protected]:orimana2020/Multi_Agent_Drone_ROS_Simulation.git
$ cd ~/catkin_ws
$ catkin build
$ source devel/setup.bash
Make sure to use nvidia
glxinfo | grep OpenGL
If not: -
sudo systemctl enable gpu-manager
sudo prime-select nvidia
If still not showing nvidia - reboot
$ cd ~/catkin_ws
$ source devel/setup.bash
in terminal_1 run:
$ roslaunch rotors_gazebo drone_poll_lanch.launch
in terminal_2 run:
$ rosrun drone_pollination main_ros_sim.py
