Simple Airplane package for ROS and Gazebo
The repository can be accessed at https://github.com/webvenky/simple-airplane
This Simple ROS package provides a quick headstart for testing high level path planning / visual servoing algorithms on multiple fixed-wing unmanned aerial vehicles. This package requires Gazebo Simulation environment. This includes Gazebo plugins that emulate the kinematic constraints of a simple aircraft. More details will be added in the future.
Just place this ROS package under the src folder of your catkin workspace before running catkin_make
(Tested with ROS-Indigo and Gazebo 2.3)
Run the following commands in different terminal windows
$ roslaunch simple_airplane_gazebo simple_airplane_empty_world.launch
$ rostopic pub /suav1/cam_target geometry_msgs/Point -r 1 -- '2.0' '0.0' '0.0'
$ rostopic pub /suav1/cmd_vel geometry_msgs/Twist -r 1 -- '[1.0, 0.0, 0.0]' '[0.0, 0.0, 0.2]'
Here’s a video of a simulation of aerial surveillance in urban regions (Click to play)..