iolyp / tum-simulator-indigo

ROS indigo compatible tum_simulator fork where i fixed some non critical errors

tum_simulator on Indigo

These packages are used to simulate the flying robot Ardrone in ROS environment using gazebo simulator. Totally they are 4 packages. Their functions are descript as below:

1. cvg_sim_gazebo: contains object models, sensor models, quadrocopter models, flying environment information and individual launch files for each objects and pure environment without any other objects.

2. cvg_sim_gazebo_plugins: contains gazebo plugins for the quadrocopter model. quadrotor_simple_controller is used to control the robot motion and deliver navigation information, such as: /ardrone/navdata. Others are plugins for sensors in the quadrocopter, such as: IMU sensor, sonar sensor, GPS sensor.

3. message_to_tf: is a package used to create a ros node, which transfers the ros topic /ground_truth/state to a /tf topic.

4. cvg_sim_msgs: contains message forms for the simulator.

Some packages are based on the tu-darmstadt-ros-pkg by Stefan Kohlbrecher, TU Darmstadt.

How to install the simulator:

1. Create a workspace for the simulator

   mkdir -p ~/tum_simulator_ws/src
   cd  ~/tum_simulator_ws/src
   catkin_init_workspace
   

2. Download dependencies

   git clone https://github.com/AutonomyLab/ardrone_autonomy.git	# The AR.Drone ROS driver
   git clone https://github.com/iolyp/tum-simulator-indigo.git
   cd ..
   rosdep install --from-paths src --ignore-src --rosdistro indigo -y
   

3. Build the simulator

   catkin_make
   

4. Source the environment

   source devel/setup.bash
   

How to run a simulation:

1. Run a simulation by executing a launch file in cvg_sim_gazebo package:

   roslaunch cvg_sim_gazebo ardrone_testworld.launch
   

tum-simulator-indigo's Issues

Gazebo launch errors

I got the following error when launching "roslaunch cvg_sim_gazebo ardrone_testworld.launch". And Gazebo never really get launched even the catkin_make compile with no errors. I wonder can someone help? Thank you.

[INFO] [WallTime: 1541614726.248767] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1541614726.251224] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1541614726.252780] [0.000000] Calling service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1541614726.442155] [659.736000] Spawn status: SpawnModel: Model pushed to spawn queue, but spawn service timed out waiting for model to appear in simulation under the name quadrotor
VMware: vmw_ioctl_command error Invalid argument.
[spawn_robot-4] process has finished cleanly
log file: /home/aml/.ros/log/9000bf4c-e2b9-11e8-b99b-000c298a75c4/spawn_robot-4*.log
Aborted (core dumped)
.[gazebo-2] process has died [pid 70448, exit code 134, cmd /opt/ros/indigo/lib/gazebo_ros/gzserver -e ode /home/aml/catkin_ws/src/tum-simulator-indigo/cvg_sim_gazebo/worlds/ardrone_testworld.world __name:=gazebo __log:=/home/aml/.ros/log/9000bf4c-e2b9-11e8-b99b-000c298a75c4/gazebo-2.log].
log file: /home/aml/.ros/log/9000bf4c-e2b9-11e8-b99b-000c298a75c4/gazebo-2*.log
............................
Error [ConnectionManager.cc:116] Failed to connect to master in 30 seconds.
Error [gazebo.cc:59] Unable to initialize transport.
Error [gazebo.cc:203] Unable to setup Gazebo
[gazebo_gui-3] process has died [pid 70458, exit code 255, cmd /opt/ros/indigo/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/aml/.ros/log/9000bf4c-e2b9-11e8-b99b-000c298a75c4/gazebo_gui-3.log].
log file: /home/aml/.ros/log/9000bf4c-e2b9-11e8-b99b-000c298a75c4/gazebo_gui-3*.log

i faced an error during the install of tum_simulator

/usr/include/gazebo-7/gazebo/common/Event.hh:627:64: error: ‘class gazebo::event::EventTPrivate<void(const gazebo::common::UpdateInfo&)>’ has no member named ‘connections’
auto const &iter = this->myDataPtr->connections.rbegin();
^
/usr/include/gazebo-7/gazebo/common/Event.hh:630:35: error: ‘class gazebo::event::EventTPrivate<void(const gazebo::common::UpdateInfo&)>’ has no member named ‘connections’
this->myDataPtr->connections[index].reset(new EventConnection(true,
^
make[2]: *** [tum-simulator-indigo/cvg_sim_gazebo_plugins/CMakeFiles/hector_gazebo_quadrotor_state_controller.dir/src/quadrotor_state_controller.cpp.o] Error 1
make[1]: *** [tum-simulator-indigo/cvg_sim_gazebo_plugins/CMakeFiles/hector_gazebo_quadrotor_state_controller.dir/all] Error 2
make[2]: *** [tum-simulator-indigo/cvg_sim_gazebo_plugins/CMakeFiles/hector_gazebo_quadrotor_simple_controller.dir/src/quadrotor_simple_controller.cpp.o] Error 1
make[1]: *** [tum-simulator-indigo/cvg_sim_gazebo_plugins/CMakeFiles/hector_gazebo_quadrotor_simple_controller.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

NB! : i follow this link to install it
https://github.com/iolyp/tum-simulator-indigo
could you possibly help me to solve this problem
i look forward for your swift reply