clover/clover_description/README.md

clover_description ROS package

This package contains models and URDF descriptions for the Clover 4 drone. These descriptions can be used for Gazebo simulation environment.

Note that in order to use these descriptions in Gazebo, you need to use the plugins from PX4 sitl_gazebo package and clover_simulation package.

Usage

The descriptions are provided as xacro-enabled URDF files. A spawn_drone.launch file that spawns the model in a running Gazebo instance is also provided for convenience.

You may provide additional parameters for spawn_drone.launch as well:

• main_camera (boolean, default: true) - controls whether the drone will have a downward-facing camera attached;
• rangefinder (boolean, default: true) - controls whether the drone will have a downward-facing laser rangefinder attached;
• led (boolean, default: true) - controls whether the drone will have a programmable LED strip (requires plugins from clover_simulation);
• gps (boolean, default: true) - controls whether the drone will have a simulated GPS attached (requires plugins from sitl_gazebo);
• maintain_camera_rate (boolean, default: false) - slow down the simulation to maintain camera publishing rate (internally changes the camera plugin from libgazebo_ros_camera.so to libthrottling_camera.so from clover_simulation).

For example, in order to spawn a drone without a GPS module, you may use the following command:

roslaunch clover_description spawn_drone.launch gps:=false

Tweaking

By default, the spawn_drone.launch command will use the clover4.xacro description file. This is a "high-level" description of the drone, mainly used to attach additional sensors.

The drone "physics" may be tweaked by changing the clover4_physics.xacro file.