This simulator features a corridor environment populated by a quadrotor robot sourced from an external project. The quadrotor robot is equipped with a camera sensor capable of providing the necessary image feed for localization purposes.
- Ubuntu 20.04
- ROS Noeitic
- Gazebo Simulator
- Rviz Visualiser
Make sure to install all the requirements to proceed further.
Once you git clone this repository using:
git clone https://github.com/Madhav2133/fyp.git
Create a ros worokspace:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin_make
Now you can copy the SLAM folder into the src folder of the workspace.
cp -r Simulation/SLAM ~/catkin_ws/src/
Now go to the ros workspace and build the package
cd ~/catkin_ws
catkin_make
Once you build the package, you are ready the run the simulation.
Make sure to source your terminal before running:
source ~/catkin_ws/devel/setup.bash
Use the following command to run the simulation:
roslaunch demo L1_start_simulation.launch
Now in a new terminal (source it first), run the following command:
rviz
This will open the rviz visualisation tool for accessing the camera feed:
You can also access the camera feed by accessing the ardrone/front_color/image_raw topic.
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Original Simulation for full package: https://github.com/hazemelghamry/SLAM.git (This was written for ROS-Melodic, so I had to change a lot of things for usage, so refer accordingly)
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C. Bernardeschi, A. Fagiolini, M. Palmieri, G. Scrima, and F. Sofia, “Ros/gazebo based simulation of co-operative uavs,” in Modelling and Simulation for Au- tonomous Systems, J. Mazal, Ed. Cham: Springer International Publishing, 2019, pp. 321–334.
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N. Nair, K. B. Sareth, R. R. Bhavani, and A. Mohan, “Simulation and stabilization of a custom-made quadcopter in gazebo using ardupilot and qgroundcontrol,” in Modeling, Simulation and Optimization, B. Das, R. Patgiri, S. Bandyopadhyay, and V. E. Balas, Eds. Singapore: Springer Nature Singapore, 2022, pp. 191–202