Drone Simulation using Gazebo11

by el-jausyan

first think first before you do drone simulation in gazebo you need to donwload all dependencies need in ubuntu, first things fisrt you need to download this

1. ROS 2 Foxy
2. Mavros
3. Ardupilot
4. Ardupilot_gazebo
5. Mavlink / stlink
6. geographicslib
7. gazebo classic

How to simulate your drone in Gazebo classic
Go to the terminal (Ctrl + Alt + T)

Terminal 1

Run MAVProxy

cd ardupilot/ArduCopter
sim_vehicle.py -v ArduCopter -f gazebo-iris --console

Terminal 2

Run Gazebo and load Iris Drone model

gazebo --verbose ~/ardupilot_gazebo/worlds/iris_arducopter_runway.world

Dont forget to check Connection status at console

Terminal 3

run MAVROS Console

ros2 run mavros mavros_node

or

ros2 run mavros mavros_node --ros-args -p fcu_url:=udp://127.0.0.1:14550@14550

real drone

ros2 run mavros mavros_node --ros-args -p fcu_url:=serial:///dev/ttyACM0:57600

or

ros2 run mavros mavros_node --ros-args -p fcu_url:=serial:///dev/ttyUSB0:115200

check ros2 topic connection

ros2 topic list

simulate drone

to simulate drone goto MAVProxy console and type the following command

mode guided
arm throttle
takeoff <altitude_in_meters>
rtl
land

Guided Mode (auto/rtl/land)

ros2 service call /mavros/set_mode mavros_msgs/srv/SetMode "{custom_mode: 'guided'}"

Arming

ros2 service call /mavros/cmd/arming mavros_msgs/srv/CommandBool "{value: true}"

takeoff

ros2 service call /mavros/cmd/takeoff mavros_msgs/srv/CommandTOL "{altitude: 1}"

Forward

ros2 topic pub --once /mavros/setpoint_velocity/cmd_vel_unstamped geometry_msgs/msg/Twist "{linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

Back

ros2 topic pub --once /mavros/setpoint_velocity/cmd_vel_unstamped geometry_msgs/msg/Twist "{linear: {x: -1.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

Right

ros2 topic pub --once /mavros/setpoint_velocity/cmd_vel_unstamped geometry_msgs/msg/Twist "{linear: {x: 0.0, y: -1.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

Left

ros2 topic pub --once /mavros/setpoint_velocity/cmd_vel_unstamped geometry_msgs/msg/Twist "{linear: {x: 0.0, y: 1.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

Up

ros2 topic pub --once /mavros/setpoint_velocity/cmd_vel_unstamped geometry_msgs/msg/Twist "{linear: {x: 0.0, y: 0.0, z: 1.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

Down

ros2 topic pub --once /mavros/setpoint_velocity/cmd_vel_unstamped geometry_msgs/msg/Twist "{linear: {x: 0.0, y: 0.0, z: -1.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

Yaw Left

ros2 topic pub --once /mavros/setpoint_velocity/cmd_vel_unstamped geometry_msgs/msg/Twist "{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.0}}"

Yaw Right

ros2 topic pub --once /mavros/setpoint_velocity/cmd_vel_unstamped geometry_msgs/msg/Twist "{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -1.0}}"

Landing

ros2 service call /mavros/cmd/land mavros_msgs/srv/CommandTOL "{min_pitch: 0.0, yaw: 0.0, latitude: 0.0, longitude: 0.0, altitude: 0.0}"

Stop movement

ros2 topic pub /mavros/setpoint_velocity/cmd_vel_unstamped geometry_msgs/msg/Twist "{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

Send 10 Hz command

ros2 topic pub -r 10 /mavros/setpoint_velocity/cmd_vel_unstamped geometry_msgs/msg/Twist "{linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

move to

ros2 topic pub /mavros/setpoint_position/local geometry_msgs/msg/PoseStamped "{
    header: {
        stamp: {sec: 0, nanosec: 0},
        frame_id: 'map'
    },
    pose: {
        position: {x: 1.0, y: 1.0, z: 1.0},
        orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
    }
}" --once

How to build worksapce ROS-2 Foxy

This im gonna show you how to build Ros2 workspcae to build script and drone task

1 Building Folder

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
colcon build
source install/setup.bash

2 Make package

based own your package script usage

cd ~/ros2_ws/src
ros2 pkg create --build-type ament_cmake drone_teleop --dependencies rclcpp geometry_msgs mavros_msgs std_msgs

go to folder

cd drone_teleop

3 Make the script

mkdir src
cd src
touch teleop_keyboard.cpp