Fast drone with Gazebo simulator - cvar-upm/aerostack GitHub Wiki

This project uses a motion controller that provides high speed. The motion controller is based on Model Prediction Control (MPC). In this project, two different missions are included:

Basic mission: A basic mission (formulated in a Python file) that executes simple movements.
Teleoperation: An execution where the user teleoperates the drone using the keyboard.

1. Basic mission

To execute this mission, perform the following steps:

Change directory to this project:

  $ cd $AEROSTACK_STACK/projects/fast_drone_gazebo

Execute the script that launches Gazebo:
```
  $ ./launcher_gazebo.sh
```
Wait until the following window is presented:

Files/GazeboFirstScreen.png

Open a new terminal and change directory to the project:
```
  $ cd $AEROSTACK_STACK/projects/fast_drone_gazebo
```
Execute the script that launches the Aerostack components for this project:
```
  $ ./main_launcher_mission.sh
```
Execute the following command to run the mission (this command executes the mission defined in configs/mission/mission.py):
```
  $ rosservice call /drone111/python_based_mission_interpreter_process/start
```

The following video illustrates how to launch the project:

The following video shows the mission execution:

2. Teleoperation

Perform the following steps:

Change directory to this project:

  $ cd $AEROSTACK_STACK/projects/fast_drone_gazebo

Execute the script that launches Gazebo:
```
  $ ./launcher_gazebo.sh
```
Wait until the Gazebo window is presented.
Open a new terminal and change directory to the project:
```
  $ cd $AEROSTACK_STACK/projects/fast_drone_gazebo
```
Execute the script that launches the Aerostack components for this project:
```
  $ ./main_launcher_teleoperation.sh
```
Click on the window corresponding to the keyboard teleoperation interface and teleoperate the drone using the appropriate keys.

This interface is shown below.

Files/KeyboardTeleoperationMPC.png

To stop the processes execute the following script:
```
  $ ./stop.sh
```
To close the inactive terminals:
```
  $ killall bash
```