frontw
commented
7 months ago Hi there! Thanks for reaching out.
Indeed, the inno_sim_interface repo has some legacy stuff. For your current setup, to setup communication with ZilantSimulator3d you should just run python dynamics3d_relay_node.py along with roslaunch rosbridge_server rosbridge_websocket.launch. The run_all.sh script is a bit outdated now; it was originally created for launching everything in tmux windows, but isn't really needed anymore.
If you're up for updating the run_all.sh script, that would be fantastic! Otherwise, I plan to clean up the repo soon to avoid further confusion.
Hope this helps!
The operation of takeoff, landing, and flight works correctly in QGC. After executing roscore, rosbridge_websocket.launch runs without issues. Installing ZilantSimulator-Linux64-0.1.19.zip from https://github.com/ZilantRobotics/Simulator3d/releases operates properly. When executing innosim_relay.launch, rviz works.
To integrate QGC, ZilantSimulator, and rviz, how should it be done?
1.Should the execution through "tmux" be done by modifying the internals of run_all.sh from https://github.com/ZilantRobotics/inno_sim_interface/tree/master/scripts?
2.In executing innosim_relay.launch from https://github.com/ZilantRobotics/inno_sim_interface/tree/master/launch, after changing
<node pkg="inno_sim_interface" type="innosim_relay_node.py" name="innosim_relay_node"/>to
<node pkg="inno_sim_interface" type="dynamics3d_relay_node.py" name="dynamics3d_relay_node"/>and adding<node pkg="inno_sim_interface" type="innosim_vtol_bridge.py" name="innosim_vtol_bridge"/>the issue was not resolved.
innosim_relay.launch and run_all.sh have not been updated for a long time, and it's unclear how to proceed with the integration.
OS: Ubuntu 20.04 ROS: Melodic