Multirotor Simulator

Introduction

For simulation purposes with Multirotor simulator , Aerostack2 provides with a platform that serves as an entry point for aerial robotics simulated in this environment.

Installation

• For binary installation, install by running:

sudo apt install ros-humble-as2-platform-multirotor-simulator

• For source installation, clone Aerostack2 repository into your workspace and build it. See it in Aerostack2 installation guide.

Aerostack2 Common Interface

For more details about platform control modes and sensors, see Aerostack2 Aerial Platform Concepts.

Control Modes

These are supported control modes:

Control Modes Multirotor Simulator Platform

Control Mode	Yaw Mode	Reference Frame
Hover	None	None
Position	Angle	ENU
Position	Speed	ENU
Speed	Angle	ENU
Speed	Speed	ENU
Trajectory	Angle	ENU
Trajectory	Speed	ENU
Acro	None	None

Sensors

These are supported sensors:

Sensors Multirotor Simulator Platform

Sensor	Topic	Type
IMU	sensor_measurements/imu	sensor_msgs/msg/Imu
GPS	sensor_measurements/gps	sensor_msgs/msg/NavSatFix

Gimbal

Gimbal is supported in simulation. These are the supported gimbal model types:

Gimbal Control Modes Multirotor Simulator Platform

Gimbal type	Topic	Type	Control mode id
gimbal_position	platform/{gimbal_name}/gimbal_command	as2_msgs/msg/GimbalControl	“0”

Gimbal state is published in the following topics:

Gimbal State Multirotor Simulator Platform

Topic	Type
sensor_measurements/{gimbal_name}	geometry_msgs/msg/PoseStamped

Config Simulation

Configuration files are located in as2_platform_multirotor_simulator/config/:

• control_modes.yaml: available input control modes for the aerostack2 aerial platform.

• platform_config_file.yaml: ROS 2 configuration, with tf names, frequencies and aerostack2 parameters.

• uav_config.yaml: UAV configuration, with the drone’s physical parameters and controller configuration.

• world_config.yaml: world configuration, as parameters override for each drone namespace in the configuration file.

Platform Launch

Aerostack2 provides a launch file for this platform:

ros2 launch as2_platform_multirotor_simulator as2_platform_multirotor_simulator.launch.py

To see all the available parameters, use the ‘-s’ flag to show the description of each parameter in the launch file.