# skyrover_simulation

**Repository Path**: skyrover-research/skyrover_simulation

## Basic Information

- **Project Name**: skyrover_simulation
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-04-22
- **Last Updated**: 2024-05-17

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# skyrover_simulation

This repository contains the world and associated models for simulating the **SkyRover**, a versatile robot capable of performing rover and drone locomotion, in Gazebo.

![](https://gitee.com/skyrover-research/skyrover_simulation/raw/master/assets/skyrover_urban_challenge_sim_demo.gif)

## Requirements

- Ubuntu 20.04
- ROS Noetic
- PX4 v1.13
- XTDrone installed (please refer to the instructions [here](https://www.yuque.com/xtdrone/manual_cn/basic_config_13))

## File hierarchy

```
skyrover_simulation
|- skyrover_gazebo # a submodule containing SkyRover robot files
|- sitl_gazebo
	|- worlds # a folder containing all the simulation worlds
	|- models # a folder containing required models 
	|- launch # a folder containing scripts to launch the world and the SkyRover robot
|- waypoint_following # a folder containing a demo task
|- README.md
```

## Usage

### Step 1: Clone the repository
```
git clone https://gitee.com/skyrover-research/skyrover_gazebo.git --recursive
```
In case you only want to update submodules, run: `git submodule update --remote`.

### Step 2: Set up the robot model
Please refer to the instructions in [skyrover_gazebo](https://gitee.com/skyrover-research/skyrover_gazebo) (see Step 0 to Step 2 in "Usage") for details.

### Step 3: Set up the world
Copy the `skyrover_simulation/sitl_gazebo/worlds/*` to your PX4 world path, e.g. `PATH/TO/PX4_Firmware/Tools/sitl_gazebo/worlds`.

Copy the `skyrover_simulation/sitl_gazebo/models/*` to your Gazebo model path, e.g. `~/.gazebo/models`.

### Step 4: Launch the simulation
You can launch the simulation by running the following command in the terminal:
```
roslaunch px4 dlab_urban_challenge.launch
```
This will load the urban challenge world and spawn the SkyRover robot in it. 

### Step 5: Run the control script
Go to `skyrover_simulation/waypoint_following/scripts`, open a new terminal and run the following command:
```
python3 iris_offb_fly_node.py
```
This will start the offboard control for SkyRover to follow the waypoints defined in the `skyrover_simulation/waypoint_following/config/mission_waypoints.txt` file (as shown at the beginning).

## List of worlds
- `dlab_urban_challenge.world`: a world with a simulated urban environment, including buildings, roads, and trees. The SkyRover robot is spawned on a road.
- `dlab_indoor1.world`: a world with a simulated indoor environment, including walls, tables, and shelfs. The SkyRover robot is spawned on an AprilTag on the ground.