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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

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.

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.

Recent questions tagged sjtu_drone_description at Robotics Stack Exchange

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