Difference between revisions of "Integration between Gazebo and Ardupilot SITL"
From Bambi
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In order to interface the Software In The Loop simulation of ardupilot to Gazebo (3D simulator integrated in ROS desktop environment) a plugin is required: https://github.com/swiftgust/ardupilot_gazebo. | In order to interface the Software In The Loop simulation of ardupilot to Gazebo (3D simulator integrated in ROS desktop environment) a plugin is required: https://github.com/swiftgust/ardupilot_gazebo. | ||
Additionally to the interface between the 3D simulation and the SITL this repo provides some useful models (that could be used as base for our specific vehicle model). | Additionally to the interface between the 3D simulation and the SITL this repo provides some useful models (that could be used as base for our specific vehicle model). | ||
| + | [[File:ArdupilotSITL-Gazebo.png]] | ||
| − | + | ==Information about SITL models== | |
When starting sim_vehicle.py the possible frame choices are listed and specified in the pysim/vehicleinfo.py script which tells to the ardupilot simulator the parameters to be loaded for that specific frame. | When starting sim_vehicle.py the possible frame choices are listed and specified in the pysim/vehicleinfo.py script which tells to the ardupilot simulator the parameters to be loaded for that specific frame. | ||
Latest revision as of 13:00, 3 February 2018
In order to interface the Software In The Loop simulation of ardupilot to Gazebo (3D simulator integrated in ROS desktop environment) a plugin is required: https://github.com/swiftgust/ardupilot_gazebo.
Additionally to the interface between the 3D simulation and the SITL this repo provides some useful models (that could be used as base for our specific vehicle model).
Information about SITL models
When starting sim_vehicle.py the possible frame choices are listed and specified in the pysim/vehicleinfo.py script which tells to the ardupilot simulator the parameters to be loaded for that specific frame.
