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drone_turtlebot_gazebo's Introduction

drone_turtlebot_gazebo

필수 ros 패키지 :
https://github.com/tu-darmstadt-ros-pkg/hector_localization
https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor
https://github.com/tu-darmstadt-ros-pkg/hector_gazebo
https://github.com/tu-darmstadt-ros-pkg/hector_models
https://github.com/ROBOTIS-GIT/turtlebot3
https://github.com/ROBOTIS-GIT/turtlebot3_simulations
https://github.com/ROBOTIS-GIT/turtlebot3_msgs

Hector drone gazebo 작동법

rosservice call /enable_motors "enable : true"

Test

rostopic pub -r 10 /drone1/cmd_vel geometry_msgs/Twist '{linear: {x: 0, y: 0.0, z: 1.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'

Setting

Hector quadrotor 자체에 pid controller가 있기 때문에 주석처리한 뒤 본인의 controller를 만들면 된다.

cd /catkin_ws/src/hector_quadrotor/hector_quadrotor_gazebo/urdf

이동한 뒤

quadrotor_plugins.gazebo.xacro

controller 관련 소스 주석처리

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