Simple IPP Simulator

This is a simple continuous-space 3D simulator. The environment emulates a agent/UAV flying in <x,y,z> with targets/"ships" on the plane Z=0.

Subscribers and Publishers

It subscribes to a topic that publishes a list of waypoints for the UAV, and publishes the following messages:

• current UAV pose <x,y,z,w>
• Ship positions <x,y>
• Sensor measurement <ships that are detected and their corresponding classification <TP, FP, TN, FN>

The corresponding publisher message definitions are included in the package under the msg/ directory

Motion model

The motion model for the UAV is currently a simple unicycle model in <x,y> with the propagation on the Z-axis changing step-wise.

Setup Environment Parameters

You can set all the environment parameters in the config file found at config/sim.yaml

Add into your workspace

Adding both planner interface and mapping interface:

cd your_ws/src
git clone git@github.com:castacks/ipp_simple_sim.git

Build

In your workspace run catkin build and source

catkin build
source devel/setup.bash

Launching the Interface Node

The simulation node can be launched with

roslaunch ipp_simple_sim sim.launch

### Launch the interface Node with other nodes
cd ~/onr_ws/src/onr_tigris/launch/
roslaunch main.launch sim:=true

# separate terminal, visualize in RViz
rviz -d src/ipp_simple_sim/rviz/sim.rviz

If you encounter an import error run the following command

export PYTHONPATH="${PYTHONPATH}:/home/satrajit/Documents/planner_ws/src/ipp_simple_sim"