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hector_quadrotor: hector_quadrotor_controller | hector_quadrotor_gazebo | hector_quadrotor_gazebo_plugins | hector_quadrotor_teleop | hector_quadrotor_urdf | hector_uav_msgs

Package Summary

hector_quadrotor_gazebo provides a quadrotor model usable in gazebo simulation. It can be commanded using geometry_msgs/Twist messages.

hector_quadrotor: hector_quadrotor_controller | hector_quadrotor_gazebo | hector_quadrotor_gazebo_plugins | hector_quadrotor_teleop | hector_quadrotor_urdf | hector_uav_msgs

Package Summary

hector_quadrotor_gazebo provides a quadrotor model usable in gazebo simulation. It can be commanded using geometry_msgs/Twist messages.

hector_quadrotor: hector_quadrotor_controller | hector_quadrotor_description | hector_quadrotor_gazebo | hector_quadrotor_gazebo_plugins | hector_quadrotor_model | hector_quadrotor_pose_estimation | hector_quadrotor_teleop | hector_uav_msgs

Package Summary

hector_quadrotor_gazebo provides a quadrotor model usable in gazebo simulation. It can be commanded using geometry_msgs/Twist messages.

hector_quadrotor

Package Summary

hector_quadrotor_gazebo provides a quadrotor model for the gazebo simulator. It can be commanded using geometry_msgs/Twist messages.

Package Summary

hector_quadrotor_gazebo provides a quadrotor model for the gazebo simulator. It can be commanded using geometry_msgs/Twist messages.

Package Summary

hector_quadrotor_gazebo provides a quadrotor model for the gazebo simulator. It can be commanded using geometry_msgs/Twist messages.

Package Summary

hector_quadrotor_gazebo provides a quadrotor model for the gazebo simulator. It can be commanded using geometry_msgs/Twist messages.

Contents

  1. Overview
  2. Use

Overview

This package provides a quadrotor model based on hector_quadrotor_urdf that is usable in gazebo. It currently supports the following features:

  • Colored COLLADA Quadrotor mesh model (.dae)
  • URDF description
  • Publishing of ground truth pose and simulated imu data
  • Spawnable in gazebo
  • Dedicated controller for use in gazebo simulation. The UAV can be controlled in gazebo using geometry_msgs/Twist messages on the 'cmd_vel' topic (as used on may other robots, but with added climb rate).

Use

For instructions on how to start simulation of the quadrotor please have look at the following tutorials:

  1. Quadrotor outdoor flight demo

    This tutorial describes how to simulate a quadrotor UAV flying in a outdoor scenario using the hector_quadrotor stack.

  2. Quadrotor indoor SLAM demo

    This tutorial describes how to simulate a quadrotor UAV performing indoor SLAM using the hector_quadrotor stack.

Wiki: hector_quadrotor_gazebo (last edited 2012-03-08 16:56:23 by StefanKohlbrecher)