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Auterion / px4-jsbsim-bridge

JSBSim bridge for PX4 SITL/HITL simulations
BSD 3-Clause "New" or "Revised" License
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Add ROS support for JSBSim Bridge #20

Closed Jaeyoung-Lim closed 4 years ago

Jaeyoung-Lim commented 4 years ago

Problem Description Previously, when using PX4 in the ROS environment, the only way to simulate PX4 was through Gazebo. However, since Gazebo has limited dynamics modeled in the simulation, it was hard for users to evaluate flight control related applications in Gazebo.

Supporting JSBSim will enable developers using ROS to be able to evaluate their software with more accurate flight dynamics.

Solution This PR adds ROS support for the JSBSim bridge. This enables users using ROS/MAVROS to be able to run JSBSim as a SITL simulation environment. A ros node jsbsimbridge_ros is responsible for initializing and running the simulation.

The configurations can be done through the launchfile

          <param name="config" value="config/rascal.xml" />
          <param name="script" value="scene/LSZH.xml" />
          <param name="dt" value="0.004" />

A launchfile is is added to automate running mavros / jsbsim togethe. The ROS node can be run through

roslaunch jsbsim_bridge px4_jsbsim_bridge.launch

The launchfile runs PX4 SITL, MAVROS and a jsbsim_bridge to expose jsbsim to PX4 SITL, and mavros to expose PX4 mavlink messages to ROS.

Additional Context