Room exploration with Gazebo simulator - cvar-upm/aerostack GitHub Wiki

This project executes a mission (written in Python) with Gazebo simulator with path generation with lidar.

In order to execute this test, perform the following steps:

  • Install the Aerostack project called "rooms_exploration_gazebo".

  • Change directory to this project:

      $ cd $AEROSTACK_STACK/projects/rooms_exploration_gazebo

  • Install the lidar components:

      $ ./lidar_instalation.sh

  • Execute the script that launches Gazebo for this project (the window presented by Gazebo displays a scenario with a set of rooms as it is shown below):

      $ ./launcher_gazebo.sh

rooms_exploration_gazebo.png

  • Execute the script that launches the Aerostack components for this project:

      $ ./main_launcher.sh

  • In order to run the mission you have to execute the following command:

      $ rosservice call /drone111/python_based_mission_interpreter_process/start

The following video illustrates how to launch the project:

Execution

Here there is a video that shows the correct execution of the mission, with a fixed aerial view and the lidar map:

Execution Top

Here there is a video that shows the correct execution of the mission, with a following view and the lidar map:

Execution Top