mirror of https://github.com/CopterExpress/clover.git synced 2026-05-26 11:43:25 +00:00

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Alexey Rogachevskiy e03eaa51c4 Add official Clover simulation config (#254 )

* clover_description: Add preliminary configs/models

* clover_description: Use proper models for the drone

* clover_description: Be more specific about spawn arguments

* clover_description: Tweak parameters a bit, add collision boxes

* travis: Add .dae files to the list of ignored by eclint

* Add clover_simulation package

* clover: Add Gazebo plugin sources

* builder: Ignore clover_gazebo_plugins for actual drone

* clover_gazebo_plugins: Expose include directories for plugins

This should fix building the unit tests

* clover_gazebo_plugins: Remove dependency on gazebo_ros

This should prevent RPi image failing to build.

* travis, gitattributes: Mark clover_gazebo_plugins as vendored, stop checks

* clover_simulation: Minor package.xml fix

* clover_description: Add IMU joint preservation

Oh, Gazebo, you are ever so very helpful, it's hard to put my appreciation into words! If not for your helpful model simplification, I wouldn't have spent two hours looking through the plugin sources, the urdf sources, trying lots of
different options for the joints and links, and finally getting an answer from GazeboOverflow or however you've named your Q&A site. How wonderful it is to have an issue that makes you tear your hair out just because you know
what's better for me!

* clover_simulation: Add the bare necessities to run a simulation

* clover_gazebo_plugins: Prevent gazebo from trying to download models

For some reason the models are no longer available, so Gazebo just spends some time waiting for a timeout.

* clover_gazebo_plugins: Update Gazebo model database URI

* clover_simulation: Add script to find and launch PX4

* clover_simulation: Fix launch file

* clover_description: Add missing plugins

* simulation: Re-enable gazebo_ros dependencies

This will force rosdep to try to install gazebo_ros on the drone,
but this can be counteracted by --skip-keys rosdep option.
This does not look reliable, but I could not come up with a better
solution.

* builder: Be more resilient about apt-get errors

* builder: Remove reference to resolve_rosdep

* clover_description: Update Clover model, change xacro description

Previous xacro description file was not performing too well, so I went with
a more sensible route and started changing iris.xacro to use our Clover model.

* clover_description: Bring back constants.xacro

* clover_description: Prevent lumping for camera link/joint

* clover_description: Move near clipping plane further away

* clover_description: Allow setting width/height for rpi_cam

* clover_description: Add a Clover model with a camera

* clover_description: Remove whitespaces

* clover_description: Add drone+camera spawning .launch file

* clover_simulation: Add gazebo_ros here as well

* clover_simulation: Spawn drone with camera by default

* clover_simulation: Allow specifying data path for px4

* clover_simulation: Add startup scripts from px4

Big TODO: Clean them up eventually

* clover_simulation: Use local data files

* clover_simulation: Launch clover services by default

* clover_description: Depend on gazebo_plugins as well

libgazebo_ros_camera is in gazebo_plugins, so we need that package.

* clover_description: Fix camera_sensor description

* clover_description: Fix typo in package.xml

* clover_simulation: rename sim_gazebo.launch to simulator.launch

* clover_simulation: Don't look for ROMFS in px4_source_path

We provide our own, no reason to fail if we can't find the originals.

* clover_simulation: Remove extra CMakeLists.txt

* clover_description: Use xacro: namespace for xacro macros

* clover_description: Fix package.xml formatting

* clover_description: Better camera defaults

* clover_description: Add distance sensor

* clover_description: Add leg colliders

* clover_simulation: Actually forward vehicle name

* clover_description: Revert adding additional colliders

Unfortunately, this breaks physics too much

* clover_description: Tweak drone physics, make it more bouncy

* clover_description: Don't spawn the drone inside the floor

* clover_description: Set rangefinder min range outside drone collider

* clover_simulation: Set default flow parameters for Clover

* clover_description: Update Clover 4 model

* clover_simulation: rename sim_gazebo.launch to simulator.launch (#233)

* clover_simulation: Add workaround for Gazebo crashes in VMware

* clover_simulation: Ignore .git for now

* clover: Add "simulated" argument

* clover_simulation: Start Gazebo early

* clover_gazebo_plugins: Remove unused files

* clover_description: Allow turning sensors on and off

* clover_description: Fix rangefinder creation

* Remove unneeded stuff and use PX4 from catkin workspace

* Remove clover_gazebo_plugins

* Rename arg simulated to simulator

* clover: Change target names to avoid clashing with PX4

* Fix

* clover_simulation: Re-add deleted comments

* Add loop model

* loop.material: use tabs instead of spaces

* loop model: don’t rotate by yaw

* loop.material: turn on alpha_blend

* Rename model loop to loop_line

* Add parquet plane model

* loop_line: fix description

* Set alpha_blend for loop_solid material

* Add square line model

* Add CATKIN_IGNORE to models directory

* Add LED strip Gazebo model

* Add hardcoded URDF LED strip

* clover_description: Add LED xarco model

clover_simulation: Implement LED visual plugin and controller

* clover_simulation: Make led plugin less chatty

* clover_simulation: Depend on led_msgs

This should allow the packages to be built in the proper order.

* clover_simulation: Support building against Kinetic

* clover_simulation: Don't build plugins if Gazebo is not installed

* clover_description: Get rid of "constants" file

* clover_description: Add README

* clover_simulation: Add README

* clover_simulation: Make parquet thicker

Otherwise the rangefinder beam goes right through it.

* docs: Start working on simulation articles

* docs: Start working on the simulation overview (en)

* Add launch-file for PX4 v1.8.2

* clover_simulation: Disable GPS, use EKF2 by default

Ideally we should be using LPE, but it is broken in PX4 1.10, and our need for a somewhat working simulator is higher than for a completely correct one.

* clover_simulation: Add experimental throttling camera

* clover_simulation: Add note about throttling camera

* clover_description: Remove unused file

* clover_simulation: Link against CameraPlugin

* clover_description: Add option to use throttling_camera

* Add clover.world

* clover_description: Add calculated inertial parameters

* simulator: change default world to clover.world

* clover_simulation: Start working on ArUco generation script

Port over aruco_gazebo_gen, add more options.
Does not modify the world right now.

* clover_simulation: Make LED plugin less chatty

* clover_description: Be more ROS-like in script naming

* clover_simulation: Implement model insertion to the world

* clover_simulation: Allow specifying output model dir

* clover_description: Don't use throttling camera by default

throttling camera is still a work-in-progress, there's no reason to
enable it by default.

* clover_simulation: Use proper script name in CMakeLists

This is what typically happens when I'm rushed.

* docs: Add instructions for VM setup (en)

* clover_simulation: Remove extra spaces

* docs: Describe simulation usage (en)

* clover_simulation: Remove led_strip

* docs/assets: Crunch sim image a bit

* clover: Bump VL53L1X version

For some reason, 0.0.2 is not installable on x86.

* docs/simulation: Fix capitalization

* Remove remnants of clover_gazebo_plugins

* Remove unneeded Clover 3 model

* Remove empty.world and asphalt_plane model

* Remove unused LED strip model

* Reduce images size

* Shortened simulator related urls

Co-authored-by: Oleg Kalachev <okalachev@gmail.com>

2020-07-22 09:17:56 +03:00

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Native setup

Setting up the simulation environment from scratch requires some effort, but results in the most performant setup, with less chance of driver issues.

Prerequisites: Ubuntu 18.04, native ROS installation.

Create a workspace for the simulation

Throughout this guide we will be using the catkin_ws as the workspace name. Feel free to change it in your setup. We will be creating it in the home directory of the current user (~).

Create the workspace and clone Clover sources:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/CopterExpress/clover -b clover_description
git clone https://github.com/CopterExpress/ros_led

Install all prerequisites using rosdep:

cd ~/catkin_ws
rosdep update
rosdep install --from-paths src --ignore-src -y

Get PX4 sources

PX4 will be built along with the other packages in our workspace. You may clone it directly into the workspace or put it somewhere and symlink to ~/catkin_ws/src. We will need to put its sitl_gazebo submodule in ~/catkin_ws/src as well. For simplicity's sake we will clone the firmware directly to the workspace:

cd ~/catkin_ws/src
git clone --recursive https://github.com/CopterExpress/Firmware -b v1.10.1-clever
ln -s Firmware/Tools/sitl_gazebo ./sitl_gazebo

Install PX4 prerequisites

PX4 comes with its own script for dependency installation. We may as well leverage it:

cd ~/catkin_ws/src/Firmware/Tools/setup
sudo ./ubuntu.sh

This will install everything required to build PX4 and its SITL environment.

You may want to skip installing the ARM toolchain if you're not planning on compiling PX4 for your flight controller. To do this, use the --no-nuttx flag:

sudo ./ubuntu.sh --no-nuttx

Install geographiclib datasets

mavros requires geographiclib datasets to be present:

cd ~
wget https://raw.githubusercontent.com/mavlink/mavros/6f5bd5a1a67c19c2e605f33de296b1b1be9d02fc/mavros/scripts/install_geographiclib_datasets.sh
sudo ./install_geographiclib_datasets.sh
rm ./install_geographiclib_datasets.sh

Build the simulator

With all dependencies installed, you can build your workspace:

cd ~/catkin_ws
catkin_make

Note

Some of the files - particularly Gazebo plugins - require large amounts of RAM to be built. You may wish to reduce the number of parallel jobs; the number of parallel jobs should be equal to the amount of RAM in gigabytes divided by 2 - so a 16GB machine should use no more than 8 jobs. You can specify the number of jobs using the -j flag: catkin_make -j8

Run the simulator

In order to be sure that everything was built correctly, try running the simulator for the first time:

source ~/catkin_ws/devel/setup.bash
roslaunch clover_simulation simulator.launch

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