id stringlengths 15 54 | text stringlengths 3 133k | title stringclasses 1
value |
|---|---|---|
gazebo_plugin/gazebohtml_137.txt | The simulated camera is implemented in [
PX4/PX4-SITL_gazebo/master/src/gazebo_camera_manager_plugin.cpp (opens new
window)
](https://github.com/PX4/PX4-SITL_gazebo/blob/master/src/gazebo_camera_manager_plugin.cpp)
. | |
gazebo_plugin/gazebohtml_74.txt | ### # Change Simulation Speed | |
gazebo_plugin/MulticopterVelocityC_0.txt | /*
* Copyright (C) 2019 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by appl... | |
gazebo_plugin/MulticopterVelocityC1_2.txt | loadRotorConfiguration(_ecm, sdfClone->GetElement("rotorConfiguration"),
this->model, this->comLinkEntity);
// DEBUG
// std::cout << "Found "
// << vehicleParams.rotorConfiguration.size()
// << " rotors" << std::endl;
// for (const auto &rot... | |
gazebo_plugin/gazebohtml_173.txt | Note | |
gazebo_plugin/multicoptervelocityc_2.txt | Send commands to the quadcopter to go straight up: | |
gazebo_plugin/gazebohtml_121.txt | ## # Starting Gazebo and PX4 Separately | |
gazebo_plugin/howtodo_15.txt | camera sensor does not attach to quadcopter | |
gazebo_plugin/gazebohtml_122.txt | For extended development sessions it might be more convenient to start Gazebo
and PX4 separately or even from within an IDE. | |
gazebo_plugin/gazebohtml_71.txt | The variables to set are: ` PX4_HOME_LAT ` , ` PX4_HOME_LON ` , and `
PX4_HOME_ALT ` . | |
gazebo_plugin/gazebohtml_59.txt | You can bring it into the air by typing: | |
gazebo_plugin/gazebohtml_134.txt | Note | |
gazebo_plugin/gazebohtml_138.txt | ## # Simulated Parachute/Flight Termination | |
gazebo_plugin/gazebohtml_76.txt |
export PX4_SIM_SPEED_FACTOR=2
make px4_sitl_default gazebo
| |
gazebo_plugin/gazebohtml_23.txt | * [ main (opens new window) ](https://docs.px4.io/main/en/)
* [ v1.14 (opens new window) ](https://docs.px4.io/v1.14/en/)
* [ v1.13 (opens new window) ](https://docs.px4.io/v1.13/en/)
* [ v1.12 (opens new window) ](https://docs.px4.io/v1.12/en/)
* [ v1.11 (opens new window) ](https://docs.px4.io/v1.... | |
gazebo_plugin/gazebohtml_26.txt | * [ English ](/v1.12/en/simulation/gazebo.html)
* [ 한국어 (Korean) ](/v1.12/ko/simulation/gazebo.html)
* [ 中文 (Chinese) ](/v1.12/zh/simulation/gazebo.html) | |
gazebo_plugin/gazebohtml_17.txt | [ MAVSDK (opens new window) ](https://mavsdk.mavlink.io/) | |
gazebo_plugin/gazebohtml_45.txt | Note | |
gazebo_plugin/multicoptervelocityc_15.txt | gz topic -e -t "/model/X4/odometry" | |
gazebo_plugin/multicoptervelocityc_28.txt | <rotorConfiguration>
<rotor>
<jointName>rotor_0_joint</jointName>
<forceConstant>1.269e-05</forceConstant>
<momentConstant>1.6754e-2</momentConstant>
<direction>1</direction>
</rotor>
<rotor>
<jointName>rotor_1_joint</join... | |
gazebo_plugin/MulticopterVelocityC1_1.txt | //////////////////////////////////////////////////
void MulticopterVelocityControl::Configure(const Entity &_entity,
const std::shared_ptr<const sdf::Element> &_sdf,
EntityComponentManager &_ecm,
EventManager &/*_eventMgr*/)
{
this->model = Model(_entity);
if (!this->model.Valid(_ecm))
{
gzerr << ... | |
gazebo_plugin/gazebohtml_167.txt | ### # Verbose Logging | |
gazebo_plugin/gazebohtml_65.txt | ### # Headless Mode | |
gazebo_plugin/gazebohtml_178.txt | Last Updated: 6/17/2021, 1:38:54 AM | |
gazebo_plugin/gazebohtml_133.txt |
make px4_sitl_default gazebo_plane_cam
| |
gazebo_plugin/gazebohtml_106.txt | TIP | |
gazebo_plugin/gazebohtml_143.txt | For more information see: | |
gazebo_plugin/gazebohtml_131.txt | The camera emits the [ CAMERA_IMAGE_CAPTURED (opens new window)
](https://mavlink.io/en/messages/common.html#CAMERA_IMAGE_CAPTURED) message
every time an image is captured. The captured images are saved to:
**PX4-Autopilot/build/px4_sitle_default/tmp/frames/DSC_n_.jpg** (where _n_
starts as 00000 and is iterated by on... | |
gazebo_plugin/gazebohtml_33.txt | [ 
(opens new window) ](https://mermaid-js.github.io/mermaid-live-
editor/#/edit/eyJjb2... | |
gazebo_plugin/multicoptervelocityc_9.txt | gz topic -e -t "/model/x3/pose" | |
gazebo_plugin/gazebohtml_176.txt | * [ ROS with Gazebo Simulation ](/v1.12/en/simulation/ros_interface.html)
* [ Gazebo Octomap ](/v1.12/en/simulation/gazebo_octomap.html) | |
gazebo_plugin/gazebohtml_42.txt | The easiest way to do this is to open a terminal in the root directory of the
PX4 _PX4-Autopilot_ repository and call ` make ` for the desired target. For
example, to start a quadrotor simulation (the default): | |
gazebo_plugin/multicoptervelocityc_19.txt | <model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name=... | |
gazebo_plugin/gazebohtml_49.txt | The commands above launch a single vehicle with the full UI. Other options
include: | |
gazebo_plugin/gazebohtml_114.txt | You can also set a Custom Takeoff Location that does the same thing. However
adding the location to the map is easier (and can still be over-ridden by
setting a custom location if needed). | |
gazebo_plugin/multicoptervelocityc_29.txt | filename="gz-sim-odometry-publisher-system"
name="gz::sim::systems::OdometryPublisher">
<dimensions>3</dimensions>
</plugin>
</include>
</world>
</sdf> | |
gazebo_plugin/gazebohtml_147.txt | The Gazebo camera sensor is supported/enabled on the following frames: | |
gazebo_plugin/gazebohtml_154.txt | Video streaming is automatically started when supported by the target vehicle.
For example, to start streaming video on the Typhoon H480: | |
gazebo_plugin/gazebohtml_107.txt | If the loaded world does not align with the map, you may need to set the
world location . | |
gazebo_plugin/gazebohtml_112.txt | If using a world that recreates a real location (e.g. a particular airport)
this can result in a very obvious mismatch between what is displayed in the
simulated world, and what is shown on the ground station map. To overcome this
problem you can set the location of the world origin to the GPS co-ordinates
where it wou... | |
gazebo_plugin/howtodo_21.txt | cc-by-saCopyright Askbot, 2010-2011. Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.about | faq | help | privacy policy | terms of servicePowered by Askbot version 0.7.58
| |
gazebo_plugin/gazebohtml_172.txt | To extend or customize the simulation interface, edit the files in the `
Tools/sitl_gazebo ` folder. The code is available on the [ sitl_gazebo
repository (opens new window) ](https://github.com/px4/sitl_gazebo) on
Github. | |
gazebo_plugin/gazebohtml_159.txt | The easiest way to view the SITL/Gazebo camera video stream is in
_QGroundControl_ . Simply open **Application Settings > General ** and set
**Video Source** to _UDP h.264 Video Stream_ and **UDP Port** to _5600_ : | |
gazebo_plugin/gazebohtml_90.txt | To enable/disable GPS noise: | |
gazebo_plugin/gazebohtml_37.txt | Gazebo 9 setup is included in our standard build instructions: | |
gazebo_plugin/gazebohtml_25.txt | Languages Languages | |
gazebo_plugin/gazebohtml_1.txt | PX4 PX4 | |
gazebo_plugin/gazebohtml_157.txt |  | |
gazebo_plugin/gazebohtml_142.txt | To put the vehicle into flight termination state, you can force it to fail a [
safety check ](/v1.12/en/config/safety.html) that has flight termination set
as the failsafe action. For example, you could do this by forcing a [ Geofence
violation ](/v1.12/en/config/safety.html#geofence-failsafe) . | |
gazebo_plugin/gazebohtml_13.txt | * [ English ](/v1.12/en/simulation/gazebo.html)
* [ 한국어 (Korean) ](/v1.12/ko/simulation/gazebo.html)
* [ 中文 (Chinese) ](/v1.12/zh/simulation/gazebo.html) | |
gazebo_plugin/gazebohtml_80.txt |
<plugin name='wind_plugin' filename='libgazebo_wind_plugin.so'>
<frameId>base_link</frameId>
<robotNamespace/>
<xyzOffset>1 0 0</xyzOffset>
<windDirectionMean>0 1 0</windDirectionMean>
<windVelocityMean>SET_YOUR_WIND_SPEED</windVelocityMean>
<w... | |
gazebo_plugin/multicoptervelocityc_10.txt |
Send commands to the hexacopter to go straight up: | |
gazebo_plugin/gazebohtml_163.txt | Note | |
gazebo_plugin/gazebohtml_22.txt | Version Version | |
gazebo_plugin/gazebohtml_103.txt | Note | |
gazebo_plugin/multicoptervelocityc_17.txt | <sdf version="1.6">
<world name="multicopter">
<physics name="4ms" type="ignored">
<max_step_size>0.004</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
fil... | |
gazebo_plugin/gazebohtml_144.txt | * [ Flight Termination ](/v1.12/en/advanced_config/flight_termination.html)
* [ Parachute ](/v1.12/en/peripherals/parachute.html)
* [ Safety Configuration (Failsafes) ](/v1.12/en/config/safety.html) | |
gazebo_plugin/gazebohtml_102.txt |
make px4_sitl_default gazebo_plane_cam__warehouse
| |
gazebo_plugin/gazebohtml_5.txt | [ MAVLINK (opens new window) ](https://mavlink.io/en/) | |
gazebo_plugin/gazebohtml_125.txt | * Run gazebo (or any other sim) server and client viewers via the terminal specifing an ` _ide ` variant:
make px4_sitl gazebo___ide
| |
gazebo_plugin/howtodo_17.txt | How to control custom modeled quadcopter in gazebo? | |
gazebo_plugin/gazebohtml_99.txt | PX4 supports a number of [ Gazebo Worlds
](/v1.12/en/simulation/gazebo_worlds.html) , which are stored in [
PX4/sitl_gazebo/worlds (opens new window)
](https://github.com/PX4/sitl_gazebo/tree/master/worlds) ) By default Gazebo
displays a flat featureless plane, as defined in [ empty.world (opens new
window) ](https:... | |
gazebo_plugin/gazebohtml_57.txt | Right-clicking the quadrotor model allows to enable follow mode from the
context menu, which is handy to keep it in view. | |
gazebo_plugin/multicoptervelocityc_27.txt | <plugin
filename="gz-sim-multicopter-control-system"
name="gz::sim::systems::MulticopterVelocityControl">
<robotNamespace>X4</robotNamespace>
<commandSubTopic>gazebo/command/twist</commandSubTopic>
<enableSubTopic>enable</enableSubTopic>
<comLinkName>base_link</comL... | |
gazebo_plugin/gazebohtml_18.txt | [ MAVLINK (opens new window) ](https://mavlink.io/en/) | |
gazebo_plugin/gazebohtml_36.txt | ## # Installation | |
gazebo_plugin/gazebohtml_70.txt | The takeoff location in SITL Gazebo can be set using environment variables.
This will override both the default takeoff location, and any value set for
the world . | |
gazebo_plugin/gazebohtml_129.txt | ## # Simulated Survey Camera | |
gazebo_plugin/gazebohtml_98.txt | ## # Loading a Specific World | |
gazebo_plugin/gazebohtml_87.txt | ### # Simulating GPS Noise | |
gazebo_plugin/gazebohtml_75.txt | The simulation speed can be increased or decreased with respect to realtime
using the environment variable ` PX4_SIM_SPEED_FACTOR ` . | |
gazebo_plugin/gazebohtml_35.txt | See [ Simulation ](/v1.12/en/simulation/) for general information about
simulators, the simulation environment, and simulation configuration (e.g.
supported vehicles). | |
gazebo_plugin/gazebohtml_168.txt | SITL fails silently when there is something wrong with the gazebo model. You
can enable more verbose logging using ` VERBOSE_SIM ` , as shown: | |
gazebo_plugin/gazebohtml_124.txt | To start Gazebo and PX4 separately: | |
gazebo_plugin/gazebohtml_140.txt | The ` if750a ` target has a parachute attached to the vehicle. To simulate the
vehicle, run the following command: | |
gazebo_plugin/multicoptervelocityc_25.txt | <plugin filename="gz-sim-multicopter-motor-model-system"
name="gz::sim::systems::MulticopterMotorModel">
<robotNamespace>X4</robotNamespace>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.... | |
gazebo_plugin/MulticopterVelocityC1_4.txt | this->maximumLinearVelocity.Set(
std::numeric_limits<double>::max(),
std::numeric_limits<double>::max(),
std::numeric_limits<double>::max());
}
if (sdfClone->HasElement("maximumAngularVelocity"))
{
this->maximumAngularVelocity =
sdfClone->Get<math::Vector3d>("maximumAngular... | |
gazebo_plugin/gazebohtml_52.txt | The ` make ` commands above first build PX4, and then run it along with the
Gazebo simulator. | |
gazebo_plugin/gazebohtml_85.txt | The current default world is [ PX4/sitl_gazebo/worlds/ **iris.world** (opens
new window) ](https://github.com/PX4/sitl_gazebo/tree/master/worlds) ), which
uses a heightmap as ground. | |
gazebo_plugin/gazebohtml_89.txt | GPS noise is enabled if the target vehicle's SDF file contains a value for the
` gpsNoise ` element (i.e. it has the line: ` <gpsNoise>true</gpsNoise> ` ).
It is enabled by default in many vehicle SDF files: **solo.sdf** ,
**iris.sdf** , **standard_vtol.sdf** , **delta_wing.sdf** , **plane.sdf** ,
**typhoon_h480** , **... | |
gazebo_plugin/howtodo_18.txt | Problem with propellers rotating around middle of robot. | |
gazebo_plugin/howtodo_3.txt | I have developed a mathematical model for a quadcopter. Now I would like to do a simulation with a quadcopter in Gazebo, and compare the results to my own model. I would like to be able to control the rotor speeds for the individual motors - and then log information about x y z, roll pitch yaw. | |
gazebo_plugin/howtodo_12.txt | How can I attach different models on a new model. I am unable to attach a camera model to my quadcopter model | |
gazebo_plugin/gazebohtml_123.txt | In addition to the existing cmake targets that run ` sitl_run.sh ` with
parameters for px4 to load the correct model it creates a launcher targets
named ` px4_<mode> ` that is a thin wrapper around original sitl px4 app. This
thin wrapper simply embeds app arguments like current working directories and
the path to the ... | |
gazebo_plugin/gazebohtml_51.txt | ## # Taking it to the Sky | |
gazebo_plugin/gazebohtml_39.txt | Additional installation instructions can be found on [ gazebosim.org (opens
new window) ](http://gazebosim.org/tutorials?cat=guided_b&tut=guided_b1) . | |
gazebo_plugin/gazebohtml_104.txt | There are _two underscores_ after the model ( ` plane_cam ` ) indicating that
the default debugger is used (none). See [ Building the Code > PX4 Make Build
Targets ](/v1.12/en/dev_setup/building_px4.html#px4-make-build-targets) . | |
gazebo_plugin/gazebohtml_95.txt | 3. Search for the ` gpsNoise ` element:
<plugin name='gps_plugin' filename='libgazebo_gps_plugin.so'>
<robotNamespace/>
<gpsNoise>true</gpsNoise>
</plugin>
| |
gazebo_plugin/gazebohtml_29.txt | [ Gazebo (opens new window) ](http://gazebosim.org) is a powerful 3D
simulation environment for autonomous robots that is particularly suitable for
testing object-avoidance and computer vision. This page describes its use with
SITL and a single vehicle. Gazebo can also be used with [ HITL
](/v1.12/en/simulation/hitl.... | |
gazebo_plugin/gazebohtml_4.txt | [ MAVSDK (opens new window) ](https://mavsdk.mavlink.io/) | |
gazebo_plugin/MulticopterVelocityC1_3.txt | gzerr << "Please specify velocityGain for MulticopterVelocityControl.\n";
return;
}
if (sdfClone->HasElement("attitudeGain"))
{
controllerParameters.attitudeGain =
math::eigen3::convert(sdfClone->Get<math::Vector3d>("attitudeGain"));
}
else
{
gzerr << "Please specify attitudeGain for... | |
gazebo_plugin/howtodo_13.txt | Quadcopter with vertical camera model | |
gazebo_plugin/howtodo_4.txt | Does Gazebo have a such quadcopter model? And should I write my own plugin to control rotor speed? | |
gazebo_plugin/gazebohtml_118.txt | You can test this by spawning a rover in the [ Sonoma Raceway World
](/v1.12/en/simulation/gazebo_worlds.html#sonoma-raceway) using the following
` make ` command (note that spawning takes longer the first time as the model
needs to be downloaded from the model database): | |
gazebo_plugin/gazebohtml_61.txt | ## # Usage/Configuration Options | |
gazebo_plugin/gazebohtml_174.txt | The build system enforces the correct GIT submodules, including the simulator.
It will not overwrite changes in files in the directory. | |
gazebo_plugin/gazebohtml_158.txt | ### # How to View Gazebo Video | |
gazebo_plugin/gazebohtml_83.txt | Joystick and thumb-joystick support are supported through _QGroundControl_ ( [
setup instructions here ](/v1.12/en/simulation/#joystick-gamepad-integration)
). | |
gazebo_plugin/gazebohtml_6.txt | Docs Docs | |
gazebo_plugin/gazebohtml_151.txt | Note |
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