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wil3 / gzmocap

Simulated motion capture system using Gazebo for MAV SITL flight
MIT License
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UWB #1

Open lucasantoro opened 4 years ago

lucasantoro commented 4 years ago

Good evening, I'm trying to simulate in gazebo a px4 offboard mode with an external localisations. My system isn't a mocap, but I think the logic is the same. Do you think that your script can be used to simulate an uwb system? Or do you have some suggestions to reach my goal? Thank you for your time and consideration

wil3 commented 4 years ago

Hi, I'm not familiar with UWB but you could use this script as an example of how to subscribe to topics in Gazebo and forward them to PX4. It was a long time ago so I'm not sure how much of the other APIs have changed. For example some of the comments note drone kit is only compatible with python2 which is not supported anymore and asyncio is built into python3 now.

If the external localization is not a topic supported out of the box by Gazebo you could write a plugin to emulate the localizer and then publish your own messages. If you haven't gone through it already you can check out gymfc for examples on Gazebo plugins and custom models.

Hope this helps.