ROS: modify iris example to support sdformat_urdf - Githubissues

ArduPilot / ardupilot_gazebo

Plugins and models for vehicle simulation in Gazebo Sim with ArduPilot SITL controllers

GNU Lesser General Public License v3.0

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ROS: modify iris example to support sdformat_urdf #56

Closed srmainwaring closed 1 year ago

srmainwaring commented 1 year ago

Modifications to support running ArduPilot SITL / Gazebo with ROS 2.

The ros2 branch includes changes to make the iris model compatible with the package sdformat_urdf. The package allows a SDFormat robot model to be used as a robot description by ROS tools such as RViz, however it imposes some restrictions on the model.

Details

Changes to model structure

The prefix model://{model_name} must be replaced by package://{package_name}/models/{model_name}.
Nested models must use the //model/include/@merge="true" attribute which requires elements in included models to have unique names.

Transform fix

An additional rotation is needed to correctly map from the Gazebo ENU world frame to the ArduPilot NED frame.

Rendering

The rotor blades are colour coded to match the ArduPilot wiki frame diagrams (Blue => CCW, Green => CW)

Additional sensors

The model has additional sensors to illustrate Gazebo sensor capabilities and bridging the topics from Gazebo to ROS.

Future work: merging changes back into `main`

The proposed change https://github.com/ros/sdformat_urdf/pull/20 should address the need for the package prefix.
The changes to the behaviour of nested models are governed by http://sdformat.org/tutorials?tut=composition_merge_proposal which imposes some restrictions on naming model elements.