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Julien Cassette
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Add 'Gazebo/' from commit 'b6713817b781337913529262384ac87244ea3c49'
git-subtree-dir: Gazebo git-subtree-mainline: 260259a git-subtree-split: b671381
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‎Gazebo/.gitignore‎

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*/build/*
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worlds/imav_indoor.world
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urdf/qws.urdf
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*.swp
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*~

‎Gazebo/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(imav_2017)
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## Add support for C++11, supported in ROS Kinetic and newer
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# add_definitions(-std=c++11)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs # Or other packages containing msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES imav_2017
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# CATKIN_DEPENDS other_catkin_pkg
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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# include_directories(include)
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## Declare a C++ library
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# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/imav_2017.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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# add_executable(${PROJECT_NAME}_node src/imav_2017_node.cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(${PROJECT_NAME}_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_imav_2017.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎Gazebo/IMAV2017_Virtual_Challenge_Guide.pdf‎

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‎Gazebo/README.md‎

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== IMAV2017 Virtual Challenge ==
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Simulation environment using ROS and Gazebo for the IMAV2017 Virtual Challenge. It has been succesfully tested on Ubuntu 16.04 (Xenial) 64bit.
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Please read the PDF file IMAV2017_Virtual_Challenge_Guide.pdf for detailled instructions and installation notes.
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Quick install and run process (using bash, if you use a different shell you may need to adapt some scripts):
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- if not done make scripts executable:
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chmod +x setup.sh
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chmod +x run_gzb.sh
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chmod +x start_uav.sh
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- run setup script (this should be done once for a fresh install without ROS or gazebo alreaded installed, in case of error run required commands by hand step by step)
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./setup.sh
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- start gazebo environment simulator and ROS server
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./run_gzb.sh
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- add a robot to the scene with default ID
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./start_uav.sh
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Once ROS/gazebo simulation is running, you can use Simulink or your own system to control the UAV
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‎Gazebo/launch/imav_indoor.launch‎

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<?xml version="1.0"?>
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<launch>
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<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
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<!--
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Create the world from xacro
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-->
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<node name="create_world" pkg="xacro" type="xacro"
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args="--inorder '$(find imav_2017)/worlds/xacro/imav_indoor.world.xacro' -o '$(find imav_2017)/worlds/imav_indoor.world'" respawn="false" output="screen"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find imav_2017)/worlds/imav_indoor.world"/>
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</include>
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<!-- Spawn simulated quadrotor uav
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<include file="$(find imav_2017)/launch/spawn_quadrotor.launch" >
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<arg name="model" default="$(find imav_2017)/urdf/quadrotor_with_sensors.urdf.xacro"/>
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</include>
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-->
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</launch>

‎Gazebo/launch/spawn_quadrotor.launch‎

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<?xml version="1.0"?>
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<launch>
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<arg name="model" default="$(find imav_2017)/urdf/quadrotor.urdf.xacro"/>
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<arg name="x" default="0"/>
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<arg name="y" default="0"/>
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<arg name="z" default="0.5"/>
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<arg name="R" default="0"/>
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<arg name="P" default="0"/>
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<arg name="Y" default="0"/>
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<!-- send the robot XML to param server -->
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<param name="robot_description" command="$(find xacro)/xacro --inorder '$(arg model)'" />
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<!-- push robot_description to factory and spawn robot in gazebo -->
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<node name="spawn_robot" pkg="gazebo_ros" type="spawn_model"
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args="-param robot_description
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-urdf
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-x '$(arg x)'
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-y '$(arg y)'
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-z '$(arg z)'
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-R '$(arg R)'
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-P '$(arg P)'
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-Y '$(arg Y)'
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-model quadrotor"
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respawn="false" output="screen"/>
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<!-- start robot state publisher -->
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<!--
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<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
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<param name="publish_frequency" type="double" value="50.0" />
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<param name="tf_prefix" type="string" value="" />
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</node>
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-->
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<!--
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<node name="ground_truth_to_tf" pkg="message_to_tf" type="message_to_tf" output="screen">
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<param name="odometry_topic" value="ground_truth/state" />
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<param name="frame_id" value="nav" />
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</node>
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-->
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<!-- node name="hector_pose_estimation" pkg="hector_pose_estimation" type="hector_pose_estimation_node" output="screen"/-->
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</launch>
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‎Gazebo/license.txt‎

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Copyright (c) 2017, The MathWorks, Inc.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
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3. In all cases, the software is, and all modifications and derivatives of the software shall be, licensed to you solely for use in conjunction with MathWorks products and service offerings.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎Gazebo/meshes/hokuyo_utm30lx/blender/hokuyo_utm30lx.blend‎

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