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Start gazebo-classic and gz-harmonic
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Christophe De Wagter
@@ -135,8 +135,8 @@
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<header/>
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<makefile target="nps">
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<raw>
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nps.CXXFLAGS += $(shell pkg-config gazebo --cflags)
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nps.LDFLAGS += $(shell pkg-config gazebo --libs)
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nps.CXXFLAGS += $(shell pkg-config gz-sim8 --cflags)
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nps.LDFLAGS += $(shell pkg-config gz-sim8 --libs)
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<!-- OpenCV for video debugging -->
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NPS_DEBUG_VIDEO ?= 0
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@@ -0,0 +1,152 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="fdm_gazebo" dir="fdm">
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<doc>
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<description>
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Gazebo backend for NPS simulator
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NPS doc: http://wiki.paparazziuav.org/wiki/NPS
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Usage:
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1. Make sure gazebo 9 is installed. (sudo apt-get install gazebo9 libgazebo9-dev)
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2. Prepare the Gazebo world and model:
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1. Prepare the UAV model (see conf/simulator/gazebo/models/ardrone/):
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- Place the aircraft model in the conf/simulator/gazebo/models/
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folder, this folder is added to Gazebo's search path when NPS is
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launched.
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- Gazebo uses a Front, Left, Up coordinate system for aircraft, so
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make sure the +x axis points forwards.
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- The model should include a link for each motor with the same names
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as those listed in NPS_ACTUATOR_NAMES (see below), e.g. 'nw_motor'.
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- Camera links should have the name specified in .dev_name in the
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corresponding video_config_t struct, see sw/airborne/boards/pc_sim.h
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and sw/airborne/modules/computer_vision/video_thread_nps.c.
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2. Prepare the world (see conf/simulator/gazebo/worlds/ardrone.world).
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Pay attention to the following:
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- The real-time update rate should be set to zero, as this is
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already handled by Paparazzi:
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@code{.xml}
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<physics type="ode">
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<max_step_size>0.001</max_step_size>
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<real_time_update_rate>0</real_time_update_rate><!-- Handled by Paparazzi! -->
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</physics>
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@endcode
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- Spherical coordinates should be provided for navigation.
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At this moment, there is an issue where Gazebo incorrectly
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uses a WSU coordinate system instead of ENU. This can be fixed
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by setting the heading to 180 degrees as shown below:
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@code{.xml}
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<spherical_coordinates>
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<surface_model>EARTH_WGS84</surface_model>
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<latitude_deg>51.9906</latitude_deg>
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<longitude_deg>4.37679</longitude_deg>
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<elevation>0</elevation>
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<heading_deg>180</heading_deg><!-- Temporary fix for issue https://bitbucket.org/osrf/gazebo/issues/2022/default-sphericalcoordinates-frame-should -->
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</spherical_coordinates>
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@endcode
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3. Prepare the airframe file (see examples/ardrone2_gazebo.xml):
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1. Select Gazebo as the FDM (Flight Dynamics Model)
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@code{.xml}
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<target name="nps" board="pc">
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<module name="fdm" type="gazebo"/>
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</target>
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@endcode
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2. Include the gazebo defines for the vehicle:
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@code{.xml}
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<section name="SIMULATOR" prefix="NPS_">
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...
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</section>
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<include href="conf/simulator/gazebo/airframes/ardrone2.xml"/>
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@endcode
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- If conf/simulator/gazebo/airframes does not contain an xml for the
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vehicle model, it should be created with the following contents:
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1. Actuator thrusts and torques
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@code{.xml}
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<!DOCTYPE airframe SYSTEM "../../../airframes/airframe.dtd">
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<airframe>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_THRUSTS" value="1.55, 1.55, 1.55, 1.55" type="float[]"/>
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<define name="ACTUATOR_TORQUES" value="0.155, 0.155, 0.155, 0.155" type="float[]"/>
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...
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</section>
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</airframe>
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@endcode
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The thrusts and torques are expressed in SI units (N, Nm) and should
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be in the same order as the ACTUATOR_NAMES defined in the airframe file.
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The torque direction is determined automatically from the motor mixing.
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2. (Optional) Add actuator dynamics to the SIMULATOR section:
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@code{.xml}
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<section name="SIMULATOR" prefix="NPS_">
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...
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<define name="ACTUATOR_TIME_CONSTANTS" value="0.02, 0.02, 0.02, 0.02" type="float[]"/>
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<define name="ACTUATOR_MAX_ANGULAR_MOMENTUM" value="0.19, 0.19, 0.19, 0.19" type="float[]"/>
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...
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</section>
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@endcode
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Actuator time constants can be provided without specifying the
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actuator's maximum angular momentum. If the maximum angular momentum
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is provided as well, it is used to calculate the rotor spin-up torque.
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3. In the same section, bypass the AHRS and INS as these are not
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supported yet:
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@code{.xml}
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<section name="SIMULATOR" prefix="NPS_">
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...
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<define name="BYPASS_AHRS" value="1"/>
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<define name="BYPASS_INS" value="1"/>
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...
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</section>
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@endcode
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4. If required, enable video thread simulation:
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@code{.xml}
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<section name="SIMULATOR" prefix="NPS_">
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...
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<define name="SIMULATE_VIDEO" value="1"/>
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...
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</section>
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@endcode
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5. Set the aircraft model in the xml file:
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@code{.xml}
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<section name="SIMULATOR" prefix="NPS_">
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...
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<define name="GAZEBO_AC_NAME" value="my_uav"/>
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</section>
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@endcode
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3. Make sure all included modules work with nps. At the moment, most of
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the modules that depend on video_thread are only built when ap is
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selected as the target. To fix this, add nps to the target attribute
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in the module xml, e.g.:
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@code{.xml}
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<makefile target="ap|nps">
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@endcode
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4. The simulation environment is set in the flight plan file:
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@code{.xml}
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<flight_plan ...>
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<header>
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...
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#define NPS_GAZEBO_WORLD "my.world"
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</header>
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...
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</flight_plan>
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@endcode
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</description>
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<configure name="NPS_DEBUG_VIDEO" value="0|1" description="show window with video for debugging"/>
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</doc>
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<header/>
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<makefile target="nps">
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<raw>
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nps.CXXFLAGS += $(shell pkg-config gazebo --cflags)
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nps.LDFLAGS += $(shell pkg-config gazebo --libs)
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<!-- OpenCV for video debugging -->
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NPS_DEBUG_VIDEO ?= 0
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ifeq (,$(findstring $(NPS_DEBUG_VIDEO),0 FALSE))
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nps.CXXFLAGS += -DNPS_DEBUG_VIDEO
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nps.CXXFLAGS += $(shell pkg-config opencv)
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nps.LDFLAGS += -lopencv_imgproc -lopencv_highgui -lopencv_core
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endif
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</raw>
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<file name="nps_fdm_gazebo.cpp" dir="nps"/>
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</makefile>
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</module>
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