Hi Nishanth,

After entering the command rosrun fly_bot control.py I am getting an error stating that "/usr/bin/env: ‘python’: No such file or directory". I have installed python 3.9.2 in the system. Still I am not able to execute the file. Kindly help asap.

Thank you

I have some questions about the quadcopter:

What is the sensor device, LiDAR or Camera? what is the sensing range?

What is the maximum forward velocity?

Can it peform SLAM and convert map to 2D occupancygrid?

Hello Nishanth,

First of all your work is really impressive, i wanted a from scratch reference for drone simulation on ros without any over dependant libraries and your work is the only resource i could obtain.
I tried to simulate my solidworks drone in ros referring your repo, but seems like due to some issue with physical parameters my bot doesn't lifts up though the quadcopter blades are moving in proper sense(Diagonally opposite in same sense). Do you have a reference for setting the values of libliftdrag plugin parameters? I tired setting them from my knowledge but to no avail.
If you feel there might be some other issue causing the same please do let me know.
Thank you in advance

this is the output of command "roslaunch fly_bot Kwad_gazebo.launch"

[ WARN] [1604875647.169607851]: The root link base_link1 has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1604875647.401430521]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1604875647.402080067]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1604875647.409483138]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1604875647.409996193]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1604875647.429486, 0.000000]: Controller Spawner: Waiting for service /Kwad/controller_manager/load_controller
SpawnModel script started
[INFO] [1604875647.849172, 0.000000]: Loading model XML from ros parameter
[INFO] [1604875647.853947, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[WARN] [1604875677.603979, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[Kwad/control_spawner-5] process has finished cleanly
log file: /home/amirt4/.ros/log/5f8173d8-2214-11eb-b67c-acfdcee01cda/Kwad-control_spawner-5*.log

Hello Nishanth.
Can we implement this simulation in Real robot that uses pixhawk flight controller ?

thanks.

Hi,
First of all, thanks for the project and its documentation! it's really helpful for my uni project.

I used it for a bit and modified the pid code without any problems, but when I added a sensor to the model i got some problems running it.

I tried to revert to your initial project but now when i launch it the quad doesn't appear in gazebo. Do you have any idea why this would happen?

this is what i get when i launch it:

... logging to /home/charlo1998/.ros/log/da08810e-1a18-11eb-bfae-34cff60a0d3e/roslaunch-charles-19467.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://charles:39895/

SUMMARY

PARAMETERS

• /Kwad/joint_motor_controller/gains/joint_back_left_prop/d: 1000
• /Kwad/joint_motor_controller/gains/joint_back_left_prop/i: 1
• /Kwad/joint_motor_controller/gains/joint_back_left_prop/p: 10000
• /Kwad/joint_motor_controller/gains/joint_back_right_prop/d: 1000
• /Kwad/joint_motor_controller/gains/joint_back_right_prop/i: 1
• /Kwad/joint_motor_controller/gains/joint_back_right_prop/p: 10000
• /Kwad/joint_motor_controller/gains/joint_front_left_prop/d: 1000
• /Kwad/joint_motor_controller/gains/joint_front_left_prop/i: 1
• /Kwad/joint_motor_controller/gains/joint_front_left_prop/p: 10000
• /Kwad/joint_motor_controller/gains/joint_front_right_prop/d: 1000
• /Kwad/joint_motor_controller/gains/joint_front_right_prop/i: 1
• /Kwad/joint_motor_controller/gains/joint_front_right_prop/p: 10000
• /Kwad/joint_motor_controller/joints: ['joint_front_rig...
• /Kwad/joint_motor_controller/type: velocity_controll...
• /Kwad/joint_state_controller/publish_rate: 50
• /Kwad/joint_state_controller/type: joint_state_contr...
• /Kwad/robot_description: <?xml version="1....
• /Kwad/robot_state_publisher/publish_frequency: 5.0
• /gazebo/enable_ros_network: True
• /rosdistro: melodic
• /rosversion: 1.14.9
• /use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
/Kwad/
control_spawner (controller_manager/spawner)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
spawn_urdf (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [19480]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to da08810e-1a18-11eb-bfae-34cff60a0d3e
process[rosout-1]: started with pid [19491]
started core service [/rosout]
process[gazebo-2]: started with pid [19498]
process[gazebo_gui-3]: started with pid [19503]
process[Kwad/spawn_urdf-4]: started with pid [19508]
process[Kwad/control_spawner-5]: started with pid [19509]
process[Kwad/robot_state_publisher-6]: started with pid [19510]
[ WARN] [1603997961.207642796]: The root link base_link1 has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[gazebo-2] process has died [pid 19498, exit code 255, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/charlo1998/danger_ws/src/fly_bot/worlds/Kwad.world __name:=gazebo __log:=/home/charlo1998/.ros/log/da08810e-1a18-11eb-bfae-34cff60a0d3e/gazebo-2.log].
log file: /home/charlo1998/.ros/log/da08810e-1a18-11eb-bfae-34cff60a0d3e/gazebo-2*.log
[ INFO] [1603997961.430300347]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1603997961.431259197]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1603997961.432373, 0.000000]: Controller Spawner: Waiting for service /Kwad/controller_manager/load_controller
[INFO] [1603997961.708744, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1603997961.714817, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[WARN] [1603997991.534830, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[Kwad/control_spawner-5] process has finished cleanly
log file: /home/charlo1998/.ros/log/da08810e-1a18-11eb-bfae-34cff60a0d3e/Kwad-control_spawner-5*.log

Hi there, hope you are doing well. Loved the project that you're working on. I too like working with drones and all that stuff. I just wanted some guidance on how we can create our own flight controller i.e. what programming language should we use and how to get started with the same. Thanks a lot by the way for your awesome project. It literally saved my day. Cheers mate!

Hello NIshanth ,
I am planning on using your simulation for a project ,
The gazebo simulator loads but on running control.py the bot doesn't fly upwards
can you suggest what needs to be done or maybe something i missed during setup to make this run