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Version: 2.0.0
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This page is describing the upcomming ROS2 version of the MRS UAV System (however, it may be still outdated). If you are looking for ROS1 version of the docs, follow to https://ctu-mrs.github.io/docs/1.5.0/introduction/.

How to start the simulation with a custom world

To start the simulation, we use ROS launch file

roslaunch mrs_simulation simulation.launch gui:=true

The launch simulation.launch file contains two arguments

<arg name="world_name" default="grass_plane" />
<arg name="world_file" default="$(find mrs_gazebo_common_resources)/worlds/$(arg world_name).world" />

specifying the default world to be grass_plane from the mrs_gazebo_common_resources package.

Load a custom world​

Load world from mrs_gazebo_common_resources​

Pass the world name (e.g., forest) as an argument to the launch file

roslaunch mrs_simulation simulation.launch gui:=true world_name:=forest

Load arbitrary custom world​

Pass the world file as an argument to the launch file using find to locate your package

roslaunch mrs_simulation simulation.launch gui:=true world_file:='$(find custom_gazebo_resources)/worlds/custom_world.world'

or use absolute path of the world file

roslaunch mrs_simulation simulation.launch gui:=true world_file:=/path/to/world/custom_world.world

How to create a custom world​

Create the world manually in a text editor​

Create a completely new .world file or copy & modify an existing file (e.g., forest.world). Make sure your world file contains line

    <plugin name="mrs_gazebo_static_transform_republisher_plugin" filename="libMrsGazeboCommonResources_StaticTransformRepublish.so"/>

The included mrs_gazebo_static_transform_republisher plugin provides static transforms of all the spawned sensors to the <uav_name>/fcu frame.

Create the world using Gazebo​

  1. Start a Gazebo simulation
  2. Insert models to the world as you wish using the Gazebo GUI
  3. Save world to file: File -> Save as
  4. Make sure the created file contains the mrs_gazebo_static_transform_republisher plugin.

Common issues

No static transformations​

rosrun rqt_tf_tree rqt_tf_tree shows no transformations between spawned sensors and the <uav_name>/fcu frame? Make sure your world file contains the mrs_gazebo_static_transform_republisher plugin as described above. Lack of static transformations might also prevent start of some systems and hence prevent taking off.