> For the complete documentation index, see [llms.txt](https://merlotliu.gitbook.io/ros-learning/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://merlotliu.gitbook.io/ros-learning/my-notes/rotors-simulator/rotors-simulator-installation.md).

# RotorS Simulator Installation

## 前言

> RotorS is a MAV gazebo simulator. It provides some multirotor models such as the [AscTec Hummingbird](http://www.asctec.de/en/uav-uas-drone-products/asctec-hummingbird/), the [AscTec Pelican](http://www.asctec.de/en/uav-uas-drone-products/asctec-pelican/), or the [AscTec Firefly](http://www.asctec.de/en/uav-uas-drone-products/asctec-firefly/), but the simulator is not limited for the use with these multicopters.
>
> There are simulated sensors coming with the simulator such as an IMU, a generic odometry sensor, and the [VI-Sensor](http://wiki.ros.org/vi_sensor), which can be mounted on the multirotor.
>
> This package also contains some example controllers, basic worlds, a joystick interface, and example launch files.
>
> Below we provide the instructions necessary for getting started. See RotorS' wiki for more instructions and examples (<https://github.com/ethz-asl/rotors\\_simulator/wiki>).

Github链接 ： [ethz-asl/rotors\_simulator: RotorS is a UAV gazebo simulator (github.com)](https://github.com/ethz-asl/rotors_simulator)

## 安装及测试

### 1 依赖工具 wstool

```
sudo apt install python3-wstool -y
```

### 2 创建工作空间和工程

```
mkdir -p ~/WORKSPACE_NAME/src
cd ~/WORKSPACE_NAME/src
catkin_init_workspace  # initialize your catkin workspace
wstool init
```

### 3 获取simulator和其他依赖

```
cd ~/catkin_ws/src
git clone git@github.com:ethz-asl/rotors_simulator.git
git clone git@github.com:ethz-asl/mav_comm.git
```

### 4 编译

切换到工作目录下，`catkin_make`

![image-20220628164318968](/files/rkyVS7TqouUPOXwrMfkd)

### 编译过程错误及解决

每次出错最好将`devel`和`build`两个目录都删除，在重新`catkin_make`

#### Error 1

**错误描述**

![image-20220628162940914](/files/CFS9U9PUThSlcsbHnT2S)

**原因及解决方案**

错误提示说明缺少依赖包`octomap_ros`，`XXX_XXXConfig.cmake`为错误提示内容组成，包名即`XXX_XXX`，eg : `octomap_rosConfig.cmake`的包名为`octomap_ros`。而在shell命令中，需要在前面加上 `ros-kinetic` （`ros-安装的ros版本`），然后用连字符 `-` 替换下划线 `_` ，即 `ros-kinetic-octomap-ros`,安装完成即可：

```shell
sudo apt-get install ros-kinetic-octomap-ros -y
```

#### Error 2

**错误描述**

```shell
CMake Error at rotors_simulator/rotors_gazebo_plugins/cmake/FindGlog.cmake:77 (MESSAGE):
  Failed to find glog - Could not find glog include directory, set
  GLOG_INCLUDE_DIR to directory containing glog/logging.h
```

![image-20220628162714152](/files/LwgazMG4PAWA8sHHkQBJ)

**解决方案**

```
sudo apt-get install libgoogle-glog-dev -y
```

#### Error 3

**错误描述**

```shell
No rule to make target '/home/ml/ws_all/rotors_test_20220628/src/rotors_simulator/rotors_gazebo_plugins/PROTOBUF_PROTOC_EXECUTABLE-NOTFOUND', needed by 'rotors_simulator/rotors_gazebo_plugins/NavSatFix.pb.cc'.  Stop.
```

![image-20220628163222050](/files/ErPPsUpCAwGvmrYD3Jzj)

**原因及解决**

缺少`protobuf-compiler`编译器，使用如下命令安装即可

```shell
sudo apt-get install protobuf-compiler
```

### 5 测试

输入以下命令，打开`gazebo`加载模型和世界：

* 有一些基本的启动文件，可以加载带有其他传感器的不同多旋翼飞行器。在`WORKSPACE_PATH/src/rotors_simulator/rotors_gazebo/launch`中找到。
* 可以修改`world_name`后的参数加载新场景，可以在`WORKSPACE_PATH/src/rotors_simulator/rotors_gazebo/worlds`下找到其他的场景；

> There are some basic launch files where you can load the different multicopters with additional sensors. They can all be found in `~/catkin_ws/src/rotors_simulator/rotors_gazebo/launch`.
>
> The `world_name` argument looks for a .world file with a corresponding name in `~/catkin_ws/src/rotors_simulator/rotors_gazebo/worlds`. By default, all launch files, with the exception of those that have the world name explicitly included in the file name, use the empty world described in `basic.world`.

```shell
cd YOUR_PATH/WORKERSPACE_NAME/
source devel/setup.bash
roslaunch rotors_gazebo mav_hovering_example.launch mav_name:=firefly world_name:=basic
```

运行事件

> The simulator starts by default in paused mode. To start it you can either
>
> * use the Gazebo GUI and press the play button
> * or you can send the following service call.

```shell
rosservice call gazebo/unpause_physics
```

运行结果如下：

![image-20220628165558532](/files/wbivDcBJowkTOvWxqxmm)

使用`rostopic`查看当前发布的话题：

```shell
rostopic list
```

![image-20220629155741418](/files/ta6e7MTKEMheAwl4lMDC)

其中`/firefly/command/pose`为无人机位置信息话题，可以通过`rostopic pub 话题名 消息类型 消息内容`，发布新消息，以控制无人机移动：

```shell
rostopic pub -1 /firefly/command/pose geometry_msgs/PoseStamped "header:  seq: 0  stamp:    secs: 0    nsecs: 0  frame_id: ''pose:  position:    x: 1.0    y: 1.0    z: 1.0  orientation:    x: 0.0    y: 0.0    z: 0.0    w: 0.0" 
```

这表明设置的新位置为 (1.0, 1.0, 1.0)，`-1`表示发布一次消息后退出。

![image-20220629155920780](/files/eArOjmHIYZmk6YaZbUZV)

## 其他注意事项

虽然场景可以启动，但可能仍有依赖未安装，如源代码中python用到的一些三方库。

## Reference

1. [ethz-asl/rotors\_simulator: RotorS is a UAV gazebo simulator (github.com)](https://github.com/ethz-asl/rotors_simulator)