Virtual Simulation

The virtual simulation environment is provided as a standalone proprietary software package for our customers, and it can aid users to validate their code before real tests, as well as explore new capabilities by adding novel scenarios in the simulation engine.

Hint

The software package is delivered on additional payment, please consult our sales on how to purchase.

Environment Prerequisites

Due to environment dependencies, the virtual simulation can only be run on an Intel-64 PC with Ubuntu 18.04 instead of the onboard computer. The minimum hardware requirements are: an Intel i7 processor and 4GB RAM memory, and more powerful hardware setup is preferred for complex environment.

The required environment is Ubuntu 18.04 with ROS melodic and Gazebo 9 engine. We have prepared all software components well, so the software package can be launched with ease.

(a) Simulation for Scorpion model

(a) Simulation for Falcon model

How to Use

1. px4 parameter auto configuration:

   Users can clean up the default parameters with:

   bash clean.sh
   

2. We support several simulation cases as below.

   • Case 1: Empty environment with GPS navigation

   # launch simulation for kerloud flying rover scorpion
   bash sitl_run.sh $PWD/bin/px4 none gazebo kerloud_fr_scorpion
   
   # launch simulation for kerloud flying rover falcon
   bash sitl_run.sh $PWD/bin/px4 none gazebo kerloud_fr_falcon
   

   Users can then operate the ground vehicle in QGroundcontrol software.

   • Case 2: Offboard control with GPS navigation

   source setup_flyingrover.bash
   # launch for scorpion model
   roslaunch launch/mavros_posix_sitl_kerloud_scorpion.launch
   
   # launch for falcon model
   roslaunch launch/mavros_posix_sitl_kerloud_falcon.launch
   

   The operation will bring up SITL simulation with the customized mavros node located in catkinws_offboard workspace.

Hint

The virtual simulation software natively supports aforementioned offboard control tutorials, please try for fun!