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sjtu_drone_description package from sjtu_drone reposjtu_drone_bringup sjtu_drone_control sjtu_drone_description |
Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | TODO: License declaration |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/novog93/sjtu_drone.git |
VCS Type | git |
VCS Version | ros2 |
Last Updated | 2025-02-07 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- Georg Novotny
Authors
No additional authors.
sjtu_drone_description
This package contains the xacro/urdf/sdf model description of the sjtu drone and the corresponding plugin for Gazebo 11 and ROS 2 Humble.
Structure
- models: Gazebo sdf model and model meshes
- include: Header files for the PID controller and drone plugin
- src: Source code for the drone plugin and PID controller
- urdf: Xacro and urdf model description files
- worlds: Contains one playground world
Worlds
To fully load the world you need to donwload the gazebo models first:
curl -L https://github.com/osrf/gazebo_models/archive/refs/heads/master.zip -o /tmp/gazebo_models.zip \
&& unzip /tmp/gazebo_models.zip -d /tmp && mkdir -p ~/.gazebo/models/ && mv /tmp/gazebo_models-master/* ~/.gazebo/models/ \
&& rm -r /tmp/gazebo_models.zip
TF Tree
Generate urdf and sdf files
To generate the urdf file run the following command:
ros2 run xacro xacro -o ./urdf/sjtu_drone.urdf ./urdf/sjtu_drone.urdf.xacro params_path:="$(ros2 pkg prefix sjtu_drone_bringup)/share/sjtu_drone_bringup/config/drone.yaml" # Generate urdf file, you need to change the mesh path to the gazebo model
To generate the sdf file run the following command:
gz sdf -p ./urdf/sjtu_drone.urdf > ./models/sjtu_drone/model.sdf # Generate sdf file, you need to change the mesh path to the gazebo model
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
Deps | Name |
---|---|
ament_cmake_ros | |
ament_lint_auto | |
ament_lint_common | |
rclcpp | |
gazebo_ros | |
gazebo_plugins | |
gazebo_dev | |
geometry_msgs | |
std_msgs | |
sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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