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PX4 / PX4-SITL_gazebo-classic

Set of plugins, models and worlds to use with OSRF Gazebo Simulator in SITL and HITL.
http://dev.px4.io/simulation-gazebo.html
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Simulating custom drone models in Gazebo #975

Open Arief-AK opened 1 year ago

Arief-AK commented 1 year ago

Hello,

Background

I am relatively new to PX4 and gazebo, I am wondering if I can get some guidance on simulating custom (.stl) models and gazebo overall. From some research, my undestanding is that gazebo recognises .stl files but it needs to be accompanied with an .sdf file and some other things. My .stl model is based on the TAROT 680 drone base and what I understand is that I need to create/modify an .sdf file to match the properties of my model for it to be recognised in gazebo.

Questions

  1. Is there a framework or tool that I can use to generate an .sdf and the other files using my .stl file?
  2. How do I link my model with the PX4 so that I can perform commands like (commander takeoff)?

Any kind of help is appreciated. Thanks.

Arief.

Jaeyoung-Lim commented 1 year ago

Is there a framework or tool that I can use to generate an .sdf and the other files using my .stl file?

@Arief-AK Your stl file only contians geometrical information, while what you are trying to define in the sdf file are physics and simulation related parameters. Therefore, there is not enough information to generate a sdf file from a stl file.

How do I link my model with the PX4 so that I can perform commands like (commander takeoff)?

The gazebo_mavlink_interface plugin is a gazebo plugin that uses HIL_* mavlink messages to talk to a SITL instance of PX4. You can read more into detail in https://docs.px4.io/main/en/simulation/