drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone

drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone

drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone

drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone drone_simulation tutorial_interfaces

Repository Summary

Description Autonomous drone simulation with LQR controller, trajectory planning, obstacle avoidance features in ROS2 and Python
Checkout URI https://github.com/patilunmesh/drone_simulator.git
VCS Type git
VCS Version main
Last Updated 2024-10-11
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
drone_simulation 0.0.0
tutorial_interfaces 0.0.0

README

ROS2 Autonomous UAV Simulation

Citation

If you are using this work in your research, you can cite this paper:

Title: ROS2-Based Simulation Framework for Cyberphysical Security Analysis of UAVs

Link: https://arxiv.org/pdf/2410.03971

Citation:

Patil, U., Gunasekaran, A., Bobba, R., & Abbas, H. (2024). ROS2-Based Simulation Framework for Cyberphysical Security Analysis of UAVs. arXiv preprint arXiv:2410.03971.

Prerequisites

sudo apt-get install ros-humble-tf-transformations
pip install transform3d

Setup a ROS2 workspace

$ tree

ros2_ws
├── build
├── install
├── log
└── src

Remember to source the setup.bash file in the install folder or add it to your bashrc/zshrc file

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

Clone the repository in the src folder

$ tree

ws_ros
├── build
├── install
├── log
└── src
    └── drone_simulation
        ├── drone_simulation
        └── README.md


Build the workspace

cd ros2_ws
colcon build
source install/setup.bash

Run the simulation

ros2 launch drone_simulation single_agent_launch.py

CONTRIBUTING

No CONTRIBUTING.md found.

drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone

drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone

drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone

drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone

drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone

drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone

drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone

drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone

drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone

drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone

drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone

drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone

drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone

drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone

drone_simulator repository

simulation python3 trajectory-generation obstacle-avoidance ros2 lqr-controller autonomous-drone