Welcome to GazeboDrone#

GazeboDrone allows connecting a gazebo drone to the Colosseum drone, using the gazebo drone as a flight dynamic model (FDM) and Colosseum to generate environmental sensor data. It can be used for Multicopters, Fixed-wings or any other vehicle.

Dependencies#

Gazebo#

Make sure you have installed gazebo dependencies:

sudo apt-get install libgazebo9-dev

AirLib#

This project is built with GCC 8, so AirLib needs to be built with GCC 8 too. Run from your Colosseum root folder:

./clean.sh
./setup.sh
./build.sh --gcc

Colosseum simulator#

The Colosseum UE plugin needs to be built with clang, so you can't use the one compiled in the previous step. You can use our binaries or you can clone Colosseum again in another folder and buid it without the above option, then you can run Blocks or your own environment.

Colosseum settings#

Inside your settings.json file you need to add this line:
"PhysicsEngineName":"ExternalPhysicsEngine".
You may want to change the visual model of the Colosseum drone, for that you can follow this tutorial.

Build#

Execute this from your Colosseum root folder:

cd GazeboDrone
mkdir build && cd build
cmake -DCMAKE_C_COMPILER=gcc-8 -DCMAKE_CXX_COMPILER=g++-8 ..
make

Run#

First run the Colosseum simulator and your Gazebo model and then execute this from your Colosseum root folder:

cd GazeboDrone/build
./GazeboDrone