MRS Gazebo custom drone example

This package supplements a tutorial on how to create a custom drone model and how to use it with the MRS UAV System and Gazebo simulator.

The tutorial is available here: https://ctu-mrs.github.io/docs/simulation/gazebo/gazebo/custom_drone.html

It covers the following steps:

• Custom directory setup
• Model template creation in Jinja
• Configuring a custom airframe for PX4
• Adding the custom drone to the MRS drone spawner
• Running the simulation with the MRS UAV System
• Adding a custom optional sensor (configurable by the MRS drone spawner)

Running the full example

Clone this repo and build it in a catkin workspace. Use the start script tmux/start.sh.

Configurables

The model can be equipped with additional components: laser rangefinder, custom monochrome camera, ground truth publisher. These can be added in the spawner command:

rosservice call /mrs_drone_spawner/spawn "1 --$UAV_TYPE"

rosservice call /mrs_drone_spawner/spawn "1 --$UAV_TYPE --enable-ground-truth --enable-rangefinder --enable-custom-monochrome-camera"

The simulation is configured to start 3 state estimators:

• gps_baro
• gps_garmin
• passthrough

Baro estimator will work without any additional sensors. Garmin estimator requires the rangefinder for a more precise altitude estimation. Passthrough estimator uses the ground truth data and should provide the highest accuraccy of state estimation. These can be enabled or disabled in tmux/config/custom_config.yaml.