Overview
This package provides a quadrotor model based on hector_quadrotor_urdf that is usable in gazebo. It currently supports the following features:
- Colored COLLADA Quadrotor mesh model (.dae)
- URDF description
- Publishing of ground truth pose and simulated imu data
- Spawnable in gazebo
Dedicated controller for use in gazebo simulation. The UAV can be controlled in gazebo using geometry_msgs/Twist messages on the 'cmd_vel' topic (as used on may other robots, but with added climb rate).
Use
For instructions on how to start simulation of the quadrotor please have look at the following tutorials:
- Quadrotor outdoor flight demo
This tutorial describes how to simulate a quadrotor UAV flying in a outdoor scenario using the hector_quadrotor stack.
- Quadrotor indoor SLAM demo
This tutorial describes how to simulate a quadrotor UAV performing indoor SLAM using the hector_quadrotor stack.