Fast drone with Gazebo simulator

This project uses a motion controller that provides high speed. The motion controller is based on Model Prediction Control (MPC). In this project, two different missions are included:

• Basic mission: A basic mission (formulated in a Python file) that executes simple movements.
• Teleoperation: An execution where the user teleoperates the drone using the keyboard.

1. Basic mission

To execute this mission, perform the following steps:

• Change directory to this project:

    $ cd $AEROSTACK_STACK/projects/fast_drone_gazebo
  

• Execute the script that launches Gazebo:

    $ ./launcher_gazebo.sh
  

• Wait until the following window is presented:

• Open a new terminal and change directory to the project:

    $ cd $AEROSTACK_STACK/projects/fast_drone_gazebo
  

• Execute the script that launches the Aerostack components for this project:

    $ ./main_launcher_mission.sh
  

• Execute the following command to run the mission (this command executes the mission defined in configs/mission/mission.py):

    $ rosservice call /drone111/python_based_mission_interpreter_process/start
  

The following video illustrates how to launch the project:

The following video shows the mission execution:

2. Teleoperation

Perform the following steps:

• Change directory to this project:

    $ cd $AEROSTACK_STACK/projects/fast_drone_gazebo
  

• Execute the script that launches Gazebo:

    $ ./launcher_gazebo.sh
  

• Wait until the Gazebo window is presented.

• Open a new terminal and change directory to the project:

    $ cd $AEROSTACK_STACK/projects/fast_drone_gazebo
  

• Execute the script that launches the Aerostack components for this project:

    $ ./main_launcher_teleoperation.sh
  

• Click on the window corresponding to the keyboard teleoperation interface and teleoperate the drone using the appropriate keys.

This interface is shown below.

• To stop the processes execute the following script:

    $ ./stop.sh
  

• To close the inactive terminals:

    $ killall bash