simulation/mrsim-gazebo
Gazebo simulator plugin for tk3-paparazzi multi-rotors
- Directory:
- simulation/mrsim-gazebo (package's history)
- Package version:
- mrsim-gazebo-2.0
- Home page:
- (none)
- License:
- 2-clause-bsd
- Source archive:
- Description:
- mrsim-gazebo is a gazebo plugin for multi-rotor simulation. It emulates the tk3-paparazzi software running on paparazzi hardware via a pty implementing the telekyb3 communication protocol and all its features, so that the hardware can be fully emulated. The rotor dynamics are simulated using a realistic motor model and a simple thrust/drag propeller model. The same hardware velocity controller as implemented in the tk3-mikrokopter software controls the propellers velocities. Then, at the user's choice, either the geometry of a model can be used to compute the total wrench applied to the rigid body, or an explicit allocation matrix can be specified.
- Run dependencies:
- glu>=7, gz-common>=5, gz-fuel-tools>=9, gz-gui>=8, gz-math>=7, gz-msgs>=10, gz-physics>=7, gz-plugin>=2, gz-rendering>=8, gz-sensors>=8, gz-sim>=8, gz-transport>=13, gz-utils>=2, jsoncpp>=1, libavcodec>=52, libavdevice>=56.4.100, libavformat>=52, libavutil>=49, libcurl>=7, libmrsim>=1.4, libstdc++, libswscale>=0, libuuid>=1, libyaml>=0, libzip>=1, protobuf>=2.3.0, qt5-declarative>=5.0.0, qt5-qtbase>=5<6, qt5-quickcontrols2>=5.0.0, sdformat>=14, tinyxml2>=2
- Build dependencies:
- digest>=20080510, g++>=4.8, gcc>=3, gz-cmake>=3, pax, pkg-config>=0.22, pkg_install>=20110805.12, python38>=3.8<3.9, tnftp>=20130505~ssl
- General options:
- c++-compiler alternatives:
- c-compiler alternatives:
- python alternatives: