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.
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
model://{model_name}
must be replaced bypackage://{package_name}/models/{model_name}
.//model/include/@merge="true"
attribute which requires elements in included models to have unique names.Transform fix
Rendering
Additional sensors
Future work: merging changes back into
main