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osrf / mbzirc

Simulator for the MBZIRC Maritime Grand Challenge
Apache License 2.0
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how to spwan UAV or USV using python code #133

Open ABZ1110 opened 2 years ago

ABZ1110 commented 2 years ago

Hi, hope everything is fine. Kindly, I am tring to spawn a UAV using python code, but I do not know how to do it. Right now I am spawning the UAV using the terminal for example using the terminal:
ros2 launch mbzirc_ign spawn.launch.py name:=hexrotor_1 world:=coast model:=mbzirc_hexrotor x:=-1500 y:=-2 z:=4.3 R:=0 P:=0 Y:=0 slot0:=mbzirc_3d_lidar

I want to spwan the UAV using the python code. I really do appreciate your kind support and assistance.

iche033 commented 2 years ago

Just FYI. In the final evaluation, you'll submit a config file to let us know the vehicles you like to use in simulation and the simulator will spawn the vehicles for you. Here is an example that launches the simulation with a configuration file containing all robots and sensor parameters. Documentation coming up soon.

ros2 launch mbzirc_ign competition.launch.py world:=coast config_file:=<path_to_mbzirc_ign>/config/coast/config_team.yaml

If you would still like to spawn UAVs yourself for local testing, you can either a) write a python script to invoke subprocess calls with the spawn command or b) write your own custom launch file doing very similar thing to the logic in competition.launch.py that spawns vehicles from a config file.