ss24-dodecacopter-dynamics-simulation

Dodecacopter Dynamics Simulation Project

Project Description:

The Dodecacopter Dynamics Simulation project is designed to enable safe testing of new algorithms for a seeding drone within a simulated environment. By using a detailed 3D model of the dodecacopter and importing it into Gazebo, the project aims to evaluate the performance of various control strategies without risking physical damage to the drone.

Project Goals

• Develop a comprehensive 3D model of the dodecacopter.
• Create a configuration file with the drone's physical properties and dynamics for integration into Gazebo.
• Enable manual control of the drone in the virtual environment for flight testing.

Tools and Technologies:

• ROS (Robot Operating System): For testing and validating the drone's dynamics.
• Gazebo: A robotics simulation environment for controlling and simulating the dodecacopter.
• Inventor: For creating the 3D model of the drone.
• Git & GitHub: For version control and project management.
• Slack: For team communication and coordination.

Requirements Specifications:

• 3D Model Development

  • Priority: High
  • Role: Mechanical Engineer
  • Goal: Create a realistic 3D model for import into Gazebo.
  • Acceptance Criteria: Accurate representation of physical dimensions and features.

• Configuration File Creation

  • Priority: High
  • Role: Software Developers
  • Goal: Configure the drone model within Gazebo with specific parameters.
  • Acceptance Criteria: Accurate mass, inertia, and other physical parameters.

• Manual Control Implementation

  • Priority: High
  • Role: Software Developers
  • Goal: Control the drone model in simulation using a SIYI MK15 controller.
  • Acceptance Criteria: Accurate flight behavior with thrust, yaw, pitch, and roll commands.

Project Structure:

• Minimum Viable Product (MVP)

  • Project Organization:

    • Organized into a ROS package format.
    • Focus on integrating the 3D model into Gazebo and proper configuration.

  • ROS NodesL Simulation Nodes: Handle integration with Gazebo. Basic Control Node: Manage control commands for demonstrations.

• Integration:

  • Development Branch: All development work will be conducted on a dedicated branch with frequent commits.
  • Merge Requests: Review and merge changes into the main branch upon reaching key milestones.

• Demonstration:

  • Demo Setup: Simulate a dodecacopter's flight in Gazebo with predefined obstacles.
  • Operator Interaction: Initiate flight via ROS node commands.
  • System Response: Execute maneuvers using the SIYI MK15 controller and monitor via ROS topics.

• Collaboration Plans:

  • Scheduling: Regular team meetings.
  • Communication Tools: Slack, Google Meet, Webex, and GitHub.
  • Version Control: Managed through GitHub.

Completed Steps:

• Updated the SDF file with correct poses of each part of the dodecacopter.
• Created and validated test cases and scenarios (using mission plan).

Future Steps:

• Develop a communication interface for control commands.

For detailed technical specifications, reference materials, and configuration data, please refer to the full project documentation and associated files.

Repository Links:

• Drone Documentation
• Project Board

Clone the repository

git clone [email protected]:HBRS-SDP/ss24-dodecacopter-dynamics-simulation.git

Change directory

cd ss24-dodecacopter-dynamics-simulation

Install dependencies

pip install -r requirements.txt

Command to run the drone in Gazebo Simulator:

• To run the drone in the Gazebo simulation environment several instructions need to be followed: PX4-ROS2_Implementation

This is an overview of the project, its goals, the tools and technologies used and how to run and interact with the drone model using px4 and ros in the gazebo simulation. For more detailed information on the 3D model and sdf (Simulation Description Format) file, please refer to the project documentation included in this repository.