This page is describing the upcomming ROS2 version of the MRS UAV System (however, it may be still outdated).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/.
Prerequsities
- The ROS Jazzy installed.
- The MRS UAV System installed.
Starting the simulation
Running the simulation consists of several steps, which are automated using a tmuxinator script. Examples of tmuxinator files can be found in the tmux folder within the mrs_multirotor_simulator package. With the system installed, you can find them (and then copy them elsewhere) by running
cd /opt/ros/jazzy/share/mrs_multirotor_simulator/tmux
Each folder contains a different simulation scenario.
The simlation scenario will be started by calling the start.sh script within its folder.
This will call the tmuxinator utility that uses the prescription in the session.yml file to spawn a tmux session.
cd /opt/ros/jazzy/share/mrs_multirotor_simulator/tmux/standalone
./start.sh
You should be presented with the "Rviz" window upon starting the session.
A similar session was also prepared to showcase the simulator of large number (400) of UAVs:
cd /opt/ros/jazzy/share/mrs_multirotor_simulator/tmux/standalone_400_uavs
./start.sh
Stopping the simulation
You have two options:
a) Run the ./kill.sh script.
b) Hit the killing shortcut: ctrl+a k (ctrl+a and then k). A menu will appear in which you confirm the selection.
Configuring the simulator
The simulator is configure through a custom config file (how to custom configs) which contains the differences form the default simulator config. You can configure how many drones should be spawned, of which type and where. The particular drone models are configure here.