webots_mav

Yunfan REN

renyunfan@outlook.com

This is a ROS package that follows the GPL3 open source protocol, which implements webots-based UAV fixed-point control and speed control, wit high density point-cloud.

History

+ 2020-12-26: First commit.
+ 2021-02-19: Add velocity control.
+ 2021-02-19: Add a package joy2twist so you can control the mav with joysticks

Build & Usage

Dependencies

sudo apt-get install ros-melodic-mavros*

If you are using zsh, you may face the * operator cannot work.

Don't worry, just add a line in~/.zshrc

setopt no_nomatch

and source it.

Build

Clone this package to your catkin_ws and catkin_make it.

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/RENyunfan/webots_mav.git
cd ..
catkin_make

Usage

Open a terminal, type

sudo ln -s /opt/ros/melodic/lib/* /usr/local/lib    
sudo ldconfig

-Remember to run `roscore` before you start the world.

And then run your webots, select the worlds at ./worlds/uav.wbt and you can see the drone takeoff.

ROS TOPIC

Now we have two way to control the mav:

Position control

• Topic name: /mavros/setpoint_position/local
• Topic type: geometry_msgs::PoseStamped
• Attention: The position z should not be less than 0.

Velocity control

• Topic name: /mavros/setpoint_velocity/cmd_vel
• Topic type: geometry_msgs::TwistStamped
• Current maximum velocity has been limited to 3m/s, I will open a parameter to set it in a moment.

Visualization

Use command below to visualize the point cloud.

roslaunch flight_controller rviz.launch

TODO

• Limit the desired mav rotation to a reasonable to prevent it from crash.