REEF_estimator_sim_bundle

Installation

git clone https://github.com/uf-reef-avl/reef_estimator_sim_bundle
cd reef_estimator_sim_bundle
git submodule update --init --recursive
cd ../..
catkin_make

Setting Up The Simulation

• To adjust the number of simulated vehicles modify the ./launch/launch_sim.launch file inside the sim_helper repository. Changing the spawn_turtles argument inside the launch file enables/disables the list of turtlebots.

• To switch between the two basic modes of flying (basic waypoints and Dubins path), change the waypointmode argument inside the ./launch/sim_estimator.launch (inside sim_helper repository). Default behavior is True which starts the basic waypoints algorithm.

Running The Simulation

• In one terminal run python ./sim_helper/scripts/Master.py.

• Wait a few seconds until Autopilot ARMED and RC override active are printed and then in another terminal run roslaunch sim_helper sim_estimator.launch from the launch directory.

• If the simulation is set to run the setpoint generator code, wait until Takeoff! is printed in the second terminal and then use rosparam set /setpoint_publisher/active true if you are using the setpoint_generator to start the simulated quadcopter. Use rosparam set /setpoint_publisher/active false to signal the quadcopter to head back to the origin. Otherwise, if you are using dubins path, use rosparam set /setpoint_publisher/activaction false to launch it.