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84
gazebo/launch/drone_landing.launch.py Normal file
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#!/usr/bin/env python3
"""
Gazebo Launch File - Drone Landing Simulation
Launches Gazebo with the world and spawns the drone.
"""
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
def generate_launch_description():
"""Generate the launch description."""
script_dir = os.path.dirname(os.path.abspath(__file__))
gazebo_dir = os.path.dirname(script_dir)
world_file = os.path.join(gazebo_dir, 'worlds', 'drone_landing.sdf')
model_path = os.path.join(gazebo_dir, 'models')
drone_model = os.path.join(model_path, 'drone', 'model.sdf')
gz_resource_path = os.environ.get('GZ_SIM_RESOURCE_PATH', '')
if model_path not in gz_resource_path:
os.environ['GZ_SIM_RESOURCE_PATH'] = f"{model_path}:{gz_resource_path}"
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
headless = LaunchConfiguration('headless', default='false')
return LaunchDescription([
DeclareLaunchArgument(
'use_sim_time',
default_value='true',
description='Use simulation (Gazebo) clock'
),
DeclareLaunchArgument(
'headless',
default_value='false',
description='Run Gazebo in headless mode (no GUI)'
),
ExecuteProcess(
cmd=['gz', 'sim', '-r', world_file],
output='screen',
additional_env={'GZ_SIM_RESOURCE_PATH': os.environ.get('GZ_SIM_RESOURCE_PATH', '')}
),
ExecuteProcess(
cmd=[
'gz', 'service', '-s', '/world/drone_landing_world/create',
'--reqtype', 'gz.msgs.EntityFactory',
'--reptype', 'gz.msgs.Boolean',
'--timeout', '5000',
'--req', f'sdf_filename: "{drone_model}", name: "drone"'
],
output='screen'
),
Node(
package='ros_gz_bridge',
executable='parameter_bridge',
name='gz_bridge',
arguments=[
'/drone/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist',
'/model/drone/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry',
'/drone/imu@sensor_msgs/msg/Imu@gz.msgs.IMU',
'/clock@rosgraph_msgs/msg/Clock@gz.msgs.Clock',
],
parameters=[{'use_sim_time': use_sim_time}],
output='screen'
),
])
if __name__ == '__main__':
print("This is a ROS 2 launch file. Run with:")
print(" ros2 launch <package_name> drone_landing.launch.py")
print("")
print("Or use the standalone script:")
print(" python3 gazebo_bridge.py")

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gazebo/models/drone/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>competition_drone</name>
<version>1.0</version>
<sdf version="1.8">model.sdf</sdf>
<author>
<name>Competition Framework</name>
<email>competition@example.com</email>
</author>
<description>
A simple quadrotor drone for the drone landing competition.
Features velocity control via /drone/cmd_vel topic and
publishes odometry for state feedback.
</description>
</model>

400
gazebo/models/drone/model.sdf Normal file
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<?xml version="1.0" ?>
<!--
Simple Quadrotor Drone Model for Competition
Features:
- Box body with 4 rotors
- IMU sensor
- MulticopterMotorModel plugin for flight dynamics
- Pose publisher for telemetry
-->
<sdf version="1.8">
<model name="competition_drone">
<pose>0 0 5 0 0 0</pose>
<!-- Main body -->
<link name="base_link">
<inertial>
<mass>1.0</mass>
<inertia>
<ixx>0.029125</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.029125</iyy>
<iyz>0</iyz>
<izz>0.055225</izz>
</inertia>
</inertial>
<collision name="body_collision">
<geometry>
<box>
<size>0.3 0.3 0.1</size>
</box>
</geometry>
</collision>
<visual name="body_visual">
<geometry>
<box>
<size>0.3 0.3 0.1</size>
</box>
</geometry>
<material>
<ambient>0.6 0.1 0.1 1</ambient>
<diffuse>0.8 0.2 0.2 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
</material>
</visual>
<!-- Front-left arm -->
<visual name="arm_fl">
<pose>0.12 0.12 0 0 0 0.785</pose>
<geometry>
<box>
<size>0.2 0.02 0.02</size>
</box>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.3 0.3 0.3 1</diffuse>
</material>
</visual>
<!-- Front-right arm -->
<visual name="arm_fr">
<pose>0.12 -0.12 0 0 0 -0.785</pose>
<geometry>
<box>
<size>0.2 0.02 0.02</size>
</box>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.3 0.3 0.3 1</diffuse>
</material>
</visual>
<!-- Back-left arm -->
<visual name="arm_bl">
<pose>-0.12 0.12 0 0 0 -0.785</pose>
<geometry>
<box>
<size>0.2 0.02 0.02</size>
</box>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.3 0.3 0.3 1</diffuse>
</material>
</visual>
<!-- Back-right arm -->
<visual name="arm_br">
<pose>-0.12 -0.12 0 0 0 0.785</pose>
<geometry>
<box>
<size>0.2 0.02 0.02</size>
</box>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.3 0.3 0.3 1</diffuse>
</material>
</visual>
<!-- IMU Sensor -->
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>100</update_rate>
<imu>
<angular_velocity>
<x><noise type="gaussian"><mean>0</mean><stddev>0.01</stddev></noise></x>
<y><noise type="gaussian"><mean>0</mean><stddev>0.01</stddev></noise></y>
<z><noise type="gaussian"><mean>0</mean><stddev>0.01</stddev></noise></z>
</angular_velocity>
<linear_acceleration>
<x><noise type="gaussian"><mean>0</mean><stddev>0.1</stddev></noise></x>
<y><noise type="gaussian"><mean>0</mean><stddev>0.1</stddev></noise></y>
<z><noise type="gaussian"><mean>0</mean><stddev>0.1</stddev></noise></z>
</linear_acceleration>
</imu>
</sensor>
<!-- Downward-facing Camera -->
<sensor name="camera" type="camera">
<pose>0 0 -0.05 0 1.5708 0</pose>
<always_on>true</always_on>
<update_rate>30</update_rate>
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>20</far>
</clip>
</camera>
<topic>/drone/camera</topic>
</sensor>
</link>
<!-- Rotor 1 (Front-Left, CCW) -->
<link name="rotor_fl">
<pose>0.17 0.17 0.05 0 0 0</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.00001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.00001</iyy><iyz>0</iyz>
<izz>0.00002</izz>
</inertia>
</inertial>
<visual name="rotor_visual">
<geometry>
<cylinder>
<radius>0.08</radius>
<length>0.01</length>
</cylinder>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
</material>
</visual>
</link>
<joint name="rotor_fl_joint" type="revolute">
<parent>base_link</parent>
<child>rotor_fl</child>
<axis>
<xyz>0 0 1</xyz>
<limit><lower>-1e16</lower><upper>1e16</upper></limit>
</axis>
</joint>
<!-- Rotor 2 (Front-Right, CW) -->
<link name="rotor_fr">
<pose>0.17 -0.17 0.05 0 0 0</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.00001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.00001</iyy><iyz>0</iyz>
<izz>0.00002</izz>
</inertia>
</inertial>
<visual name="rotor_visual">
<geometry>
<cylinder>
<radius>0.08</radius>
<length>0.01</length>
</cylinder>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
</material>
</visual>
</link>
<joint name="rotor_fr_joint" type="revolute">
<parent>base_link</parent>
<child>rotor_fr</child>
<axis>
<xyz>0 0 1</xyz>
<limit><lower>-1e16</lower><upper>1e16</upper></limit>
</axis>
</joint>
<!-- Rotor 3 (Back-Left, CW) -->
<link name="rotor_bl">
<pose>-0.17 0.17 0.05 0 0 0</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.00001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.00001</iyy><iyz>0</iyz>
<izz>0.00002</izz>
</inertia>
</inertial>
<visual name="rotor_visual">
<geometry>
<cylinder>
<radius>0.08</radius>
<length>0.01</length>
</cylinder>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
</material>
</visual>
</link>
<joint name="rotor_bl_joint" type="revolute">
<parent>base_link</parent>
<child>rotor_bl</child>
<axis>
<xyz>0 0 1</xyz>
<limit><lower>-1e16</lower><upper>1e16</upper></limit>
</axis>
</joint>
<!-- Rotor 4 (Back-Right, CCW) -->
<link name="rotor_br">
<pose>-0.17 -0.17 0.05 0 0 0</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.00001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.00001</iyy><iyz>0</iyz>
<izz>0.00002</izz>
</inertia>
</inertial>
<visual name="rotor_visual">
<geometry>
<cylinder>
<radius>0.08</radius>
<length>0.01</length>
</cylinder>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
</material>
</visual>
</link>
<joint name="rotor_br_joint" type="revolute">
<parent>base_link</parent>
<child>rotor_br</child>
<axis>
<xyz>0 0 1</xyz>
<limit><lower>-1e16</lower><upper>1e16</upper></limit>
</axis>
</joint>
<!-- MulticopterMotorModel Plugin for each rotor -->
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
<robotNamespace>drone</robotNamespace>
<jointName>rotor_fl_joint</jointName>
<linkName>rotor_fl</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1000</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
<robotNamespace>drone</robotNamespace>
<jointName>rotor_fr_joint</jointName>
<linkName>rotor_fr</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1000</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
<robotNamespace>drone</robotNamespace>
<jointName>rotor_bl_joint</jointName>
<linkName>rotor_bl</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1000</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
<robotNamespace>drone</robotNamespace>
<jointName>rotor_br_joint</jointName>
<linkName>rotor_br</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1000</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<!-- Multicopter Velocity Controller -->
<plugin filename="gz-sim-multicopter-control-system" name="gz::sim::systems::MulticopterVelocityControl">
<robotNamespace>drone</robotNamespace>
<commandSubTopic>cmd_vel</commandSubTopic>
<enableSubTopic>enable</enableSubTopic>
<comLinkName>base_link</comLinkName>
<velocityGain>2.7 2.7 2.7</velocityGain>
<attitudeGain>2 3 0.15</attitudeGain>
<angularRateGain>0.4 0.52 0.18</angularRateGain>
<maximumLinearAcceleration>2 2 2</maximumLinearAcceleration>
<rotorConfiguration>
<rotor>
<jointName>rotor_fl_joint</jointName>
<forceConstant>8.54858e-06</forceConstant>
<momentConstant>0.016</momentConstant>
<direction>1</direction>
</rotor>
<rotor>
<jointName>rotor_fr_joint</jointName>
<forceConstant>8.54858e-06</forceConstant>
<momentConstant>0.016</momentConstant>
<direction>-1</direction>
</rotor>
<rotor>
<jointName>rotor_bl_joint</jointName>
<forceConstant>8.54858e-06</forceConstant>
<momentConstant>0.016</momentConstant>
<direction>-1</direction>
</rotor>
<rotor>
<jointName>rotor_br_joint</jointName>
<forceConstant>8.54858e-06</forceConstant>
<momentConstant>0.016</momentConstant>
<direction>1</direction>
</rotor>
</rotorConfiguration>
</plugin>
<!-- Odometry Publisher -->
<plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
<odom_frame>odom</odom_frame>
<robot_base_frame>base_link</robot_base_frame>
<odom_publish_frequency>50</odom_publish_frequency>
</plugin>
<!-- Pose Publisher for telemetry -->
<plugin filename="gz-sim-pose-publisher-system" name="gz::sim::systems::PosePublisher">
<publish_link_pose>true</publish_link_pose>
<publish_nested_model_pose>true</publish_nested_model_pose>
<update_frequency>50</update_frequency>
</plugin>
</model>
</sdf>

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gazebo/worlds/drone_landing.sdf Normal file
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<?xml version="1.0" ?>
<!--
Drone Landing Competition - Gazebo World
This world contains:
- Ground plane with grid texture
- Landing pad (rover) at origin
- Drone spawned at 5m altitude
- Sun for lighting
-->
<sdf version="1.8">
<world name="drone_landing_world">
<!-- Physics configuration -->
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<!-- Required plugins -->
<plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics"/>
<plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands"/>
<plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster"/>
<plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
<!-- Lighting -->
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<!-- Ground Plane -->
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
</material>
</visual>
</link>
</model>
<!-- Landing Pad (Rover) -->
<model name="landing_pad">
<static>true</static>
<pose>0 0 0.15 0 0 0</pose>
<link name="base_link">
<collision name="collision">
<geometry>
<box>
<size>1.0 1.0 0.3</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1.0 1.0 0.3</size>
</box>
</geometry>
<material>
<ambient>0.1 0.4 0.1 1</ambient>
<diffuse>0.2 0.6 0.2 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
</material>
</visual>
<!-- Landing pad "H" marker -->
<visual name="h_marker">
<pose>0 0 0.151 0 0 0</pose>
<geometry>
<box>
<size>0.6 0.1 0.001</size>
</box>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
</material>
</visual>
<visual name="h_left">
<pose>-0.25 0 0.151 0 0 0</pose>
<geometry>
<box>
<size>0.1 0.6 0.001</size>
</box>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
</material>
</visual>
<visual name="h_right">
<pose>0.25 0 0.151 0 0 0</pose>
<geometry>
<box>
<size>0.1 0.6 0.001</size>
</box>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
</material>
</visual>
</link>
</model>
</world>
</sdf>