drone_racing_ros2

Running a Tello simulation in Gazebo

tello_gazebo consists of several components:

• TelloPlugin simulates a drone, handling takeoff, landing and very simple flight dynamics
• markers contains Gazebo models for fiducial markers
• fiducial.world is a simple world with a bunch of fiducial markers
• inject_entity.py is a script that will read an URDF (ROS) or SDF (Gazebo) file and spawn a model in a running instance of Gazebo
• the built-in camera plugin is used to emulate the Gazebo forward-facing camera

Installation

Install ROS2 Galactic

https://docs.ros.org/ with the `ros-galactic-desktop` option.

Make sure you have gazebo

sudo apt install gazebo11 libgazebo11 libgazebo11-dev

Add the following

sudo apt install libasio-dev
sudo apt install ros-galactic-cv-bridge ros-galactic-camera-calibration-parsers 
sudo apt install libignition-rendering3 
pip3 install transformations

Build this package

git clone https://github.com/crcz25/aerial_multi_robot_project.git
cd aerial_multi_robot_project
source /opt/ros/galactic/setup.bash
colcon build

Run a teleop simulation

cd PATH_TO_REPO
source install/setup.bash
export GAZEBO_MODEL_PATH=${PWD}/install/tello_gazebo/share/tello_gazebo/models
source /usr/share/gazebo/setup.sh
ros2 launch tello_gazebo simple_launch.py

You will see a single drone in a blank world. You can control the drone using the joystick.

Launch a random world simulation

*After following the previous steps*
ros2 launch tello_gazebo random_track_launch.py

This will generate a world with randomly placed gates

If you run into the No namespace found error re-set GAZEBO_MODEL_PATH:

export GAZEBO_MODEL_PATH=${PWD}/install/tello_gazebo/share/tello_gazebo/models
source /usr/share/gazebo/setup.sh

Setup alias to import the environment

Edit your .bashrc file and add the following line

alias drone="source PATH_TO_REPO/install/setup.bash && export GAZEBO_MODEL_PATH=PATH_TO_REPO/install/tello_gazebo/share/tello_gazebo/models:$GAZEBO_MODEL_PATH && source /usr/share/gazebo/setup.sh"

Control the drone

ros2 service call /drone1/tello_action tello_msgs/TelloAction "{cmd: 'takeoff'}"
ros2 service call /drone1/tello_action tello_msgs/TelloAction "{cmd: 'land'}"
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __ns:=/drone1

Kill gazebo processes

In case gazebo fails launching and there are processes left, use the following script to kill all.

chmod +x kill_gazebo.sh
./kill_gazebo.sh

Setup environment variables

To easily setup the environment variables, run the following script

chmod +x setup_env.sh
. ./setup_env.sh