Added the possibility to have simulations with multiple UAVs

[basti35]

I had to use the tum_simulator with more drones, each with its own namespace. Thus I had to change the absolute frame and topic names into relative ones.
There is a demo (cvg_sim_gazebo/launch/testworld_with_three_ardrone.launch) if you want to try it.

Nicola

[sssmile2020]

that is great! but i have a question that how can i controll them.

[di55olve88]

Publish to topics for each namespace corresponding to what you want each
drone yo do. For instance if you want to instruct 1st drone to take off
publish a message of type std_msgs/Empty to topic /ardrone_1/takeoff. See
ardrone_autonomy documentation for more information on reading and
controlling the drones using ros topics and services.

Akila Ganlath
Graduate Student Researcher
Dept. of Mechanical Engineering
Bourns College of Engineering
On Aug 21, 2016 7:36 PM, "sssmile2020" notifications@github.com wrote:

that is great! but i have a question that how can i controll them.

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[sssmile2020]

thank you. But when i put the code in the terminal: rostopic pub -1 /ardrone_1/takeoff std_msgs/Empty ,the adrone_1 can't takeoff.

[basti35]

Hi,
Do you have you recompiled the package after the update?

Nicola

2016-08-23 7:35 GMT+02:00 sssmile2020 notifications@github.com:

thank you. But when i put the code in the terminal: rostopic pub -1
/ardrone_1/takeoff std_msgs/Empty ,the adrone_1 can't takeoff.

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[sssmile2020]

thank you. you are great. I hope I can keep learning to you. how can i set a goal and path that the drone can accomplish it autonomously?

[di55olve88]

You will need to design a controller that does this, or use some prebuilt
controllers that are in other ROS packages.

Akila Ganlath
Graduate Student Researcher
Dept. of Mechanical Engineering
Bourns College of Engineering
On Aug 24, 2016 12:32 AM, "sssmile2020" notifications@github.com wrote:

thank you. you are great. I hope I can keep learning to you. how can i set
a goal and path that the drone can accomplish it autonomously?

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[sssmile2020]

Thank you. Can i find the controllers and modify the code in the tum_simulator ?

[di55olve88]

You should contact The University of Munich to verify their license is
appropriate for your intended use.

Akila Ganlath
Graduate Student Researcher
Dept. of Mechanical Engineering
Bourns College of Engineering
On Aug 24, 2016 7:20 PM, "sssmile2020" notifications@github.com wrote:

Thank you. Can i find the controllers and modify the code in the
tum_simulator ?

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[sssmile2020]

It's a good idea. I will have a try. And i have a problem that tum_simulator for indigo doesn't suit for kinetic. what should i do?

[di55olve88]

You'll need to develop within indigo or make changes to tum_simulator that
meet kinetic requirements.

Akila Ganlath
Graduate Student Researcher
Dept. of Mechanical Engineering
Bourns College of Engineering
On Aug 25, 2016 10:26 PM, "sssmile2020" notifications@github.com wrote:

It's a good idea. I will have a try. And i have a problem that
tum_simulator for indigo doesn't suit for kinetic. what should i do?

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[malharjajoo]

I was wondering why this branch hasn't been merged with the original ?
Are the modifications to the code correct ? I do not have enough knowledge about internal Gazebo and ardone code and am in shortage of time.
I really wish to know as I'm currently working on a project that may require simulating multiple drones.

[pulver22]

Yes, the implementations are correct (I tested myself). Problably it has not been merged because this project is partially outdated and abandoned.

[malharjajoo]

Thanks for that information @pulver22 , I will try the code myself. Just one more question, could these changes work in ROS kinetic ?

[pulver22]

They partially do. Otherwise you can go on my profile and use the repo called QLab, it's basically a reworking of tum_simulator for Kinetic plus a couple of things I needed for myself.

[malharjajoo]

@pulver22 , thanks a lot for that. I will check out your repo soon.

[sjoshi13]

I could spawn multiple drones but cannot control them.They move for a while and later spin and flip randomly.
please help

[puneetchawla]

@basti35 I followed your repository with multiple drones and successfully launched the environment. But, I am not able to get the camera stream from the respective drone cameras. And also, rostopic echo /ardrone_1/camera_ info shows
WARNING: no messages received and simulated time is active.
Is /clock being published?
so, is there any solution to get the camera stream otherwise, i am able to control and navigate.

[tarsisos]

Hello, I'm having trouble when I recompile the environment after the modifications. A method is not recognized, and shows up this:

catkin_ws/src/tum_simulator/cvg_sim_gazebo_plugins/src/quadrotor_state_controller.cpp:65:90: error: ‘class sdf::Element’ has no member named ‘GetValueString’
this->node_namespace_ = this->robot_namespace_ + _sdf->GetElement("node_namespace")->GetValueString() + "/";

catkin_ws/src/tum_simulator/cvg_sim_gazebo_plugins/src/quadrotor_simple_controller.cpp:87:90: error: ‘class sdf::Element’ has no member named ‘GetValueString’
this->node_namespace_ = this->robot_namespace_ + _sdf->GetElement("node_namespace")->GetValueString() + "/";

Anyone had this problem too? How to resolve? Because I tried to remove that function but gives error too.

Also, when I try to takeoff a ardrone for example "rostopic pub -1 /ardrone_2/takeoff std_msgs/Empty", it doesn't takeoff. I have already tried other combinations but it doesn't work too!

[oussama-lab]

@basti35 I followed your repository with multiple drones and successfully launched the environment. But, I am not able to get the camera stream from the respective drone cameras. And also, rostopic echo /ardrone_1/camera_ info shows
WARNING: no messages received and simulated time is active.
Is /clock being published?
so, is there any solution to get the camera stream otherwise, i am able to control and navigate.

hi , i have the same probleme, and i try everything , it didn't correct, did u figure it out ?

[oussama-lab]

Hello, I'm having trouble when I recompile the environment after the modifications. A method is not recognized, and shows up this:

catkin_ws/src/tum_simulator/cvg_sim_gazebo_plugins/src/quadrotor_state_controller.cpp:65:90: error: ‘class sdf::Element’ has no member named ‘GetValueString’
this->node_namespace_ = this->robot_namespace_ + _sdf->GetElement("node_namespace")->GetValueString() + "/";

catkin_ws/src/tum_simulator/cvg_sim_gazebo_plugins/src/quadrotor_simple_controller.cpp:87:90: error: ‘class sdf::Element’ has no member named ‘GetValueString’
this->node_namespace_ = this->robot_namespace_ + _sdf->GetElement("node_namespace")->GetValueString() + "/";

Anyone had this problem too? How to resolve? Because I tried to remove that function but gives error too.

Also, when I try to takeoff a ardrone for example "rostopic pub -1 /ardrone_2/takeoff std_msgs/Empty", it doesn't takeoff. I have already tried other combinations but it doesn't work too!

hi ,for ur problem the GetValueString() replace it with Getstd::string() , shoud work for u

[tarsisos]

Hello, I'm having trouble when I recompile the environment after the modifications. A method is not recognized, and shows up this:
catkin_ws/src/tum_simulator/cvg_sim_gazebo_plugins/src/quadrotor_state_controller.cpp:65:90: error: ‘class sdf::Element’ has no member named ‘GetValueString’
this->node_namespace_ = this->robot_namespace_ + sdf->GetElement("node_namespace")->GetValueString() + "/";
catkin_ws/src/tum_simulator/cvg_sim_gazebo_plugins/src/quadrotor_simple_controller.cpp:87:90: error: ‘class sdf::Element’ has no member named ‘GetValueString’
this->node_namespace = this->robot_namespace_ + _sdf->GetElement("node_namespace")->GetValueString() + "/";
Anyone had this problem too? How to resolve? Because I tried to remove that function but gives error too.
Also, when I try to takeoff a ardrone for example "rostopic pub -1 /ardrone_2/takeoff std_msgs/Empty", it doesn't takeoff. I have already tried other combinations but it doesn't work too!

hi ,for ur problem the GetValueString() replace it with Getstd::string() , shoud work for u

Hello, thank for ur help! I changed GetValueStrig() for Get < std::string > () and worked!