Drone Race project

Prerequisites

• ROS Kinetic
• ETH RotorS
• ethzasl_msf
• rotors_simulator_demos

See more detailed installation instructions in install.md.

Test Launch Files:

• Launch RotorS msf with Gazebo, Rviz, spline planner and ground truth gates:

$ roslaunch drone_race_common rotors_rviz_spline_gt.launch

Run environment (for Waypoint Controller)

1. Launch Gazebo with test track, and RotorS plugins:

• With vi camera$ roslaunch gazebo_assets_drone_race test_rotors_msf_camera.launch
• Or without camera (faster): $ roslaunch gazebo_assets_drone_race rotors_msf_test_track.launch

2. Run waypoint controller to control the drone:

• Waypoint controller: $ rosrun waypoint_controller control_node.py _target_exit_speed:=1
• Or spline planner: $ rosrun spline_planner planner.py

3. Run ground truth and visualizations:

• $ rosrun drone_map_builder gt_gates_publisher_node.py
• $ rosrun drone_map_builder gt_ego_position.py

4. Run RVIZ

• $ rviz -d $(rospack find drone_map_builder)/configs/default.rviz

RotorS commands examples

$ rosrun rotors_gazebo waypoint_publisher 0 0 1 180 0 __ns:=firefly