sudo apt install mercurial
Use Mercurial to get a bunch of open source gazebo models from the Open Source Robotics Foundation (OSRF)
hg clone https://bitbucket.org/osrf/gazebo_models ~/gazebo_ws/gazebo_models
Add Models path to the bashrc
echo 'export GAZEBO_MODEL_PATH=~/gazebo_ws/gazebo_models:${GAZEBO_MODEL_PATH}' >> ~/.bashrc
source ~/.bashrc
make a new file in ~/catkin_ws/src/iq_sim/worlds/ called hills.world
copy the following lines into the world
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="default">
<physics type="ode">
<ode>
<solver>
<type>quick</type>
<iters>100</iters>
<sor>1.0</sor>
</solver>
<constraints>
<cfm>0.0</cfm>
<erp>0.9</erp>
<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
<contact_surface_layer>0.0</contact_surface_layer>
</constraints>
</ode>
<real_time_update_rate>-1</real_time_update_rate>
<!-- <max_step_size>0.0020</max_step_size> -->
</physics>
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://ground_plane</uri>
</include>
<model name="iris">
<include>
<uri>model://iris_with_standoffs_demo</uri>
</include>
<!-- add new camera -->
<link name='camera'>
<pose>0 -0.01 0.070 .8 0 1.57</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<visual name='visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.025</radius>
<length>0.025</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<sensor name="camera" type="camera">
<pose>0 0 0 -1.57 -1.57 0</pose>
<camera>
<horizontal_fov>1.0472</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.05</near>
<far>1000</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>10</update_rate>
<visualize>true</visualize>
<!-- <plugin name="irlock" filename="libArduCopterIRLockPlugin.so">
<fiducial>irlock_beacon_01</fiducial>
</plugin> -->
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>webcam</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</link>
<!-- attach camera -->
<joint type="revolute" name="base_camera_joint">
<pose>0 0 0.0 0 0 0</pose>
<parent>iris::iris_demo::gimbal_small_2d::tilt_link</parent>
<child>camera</child>
<axis>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<xyz>0 0 1</xyz>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
</model>
</world>
</sdf>
The above code is sdf code. it is a formatting language specific to Gazebo. The above lines form the basis to our a good gazebo drone simulation. The physics tag above is tailored to best simulate the drone's flight. The next part of the simulation is the iris which is our drone. The code inside the iris model tag is the code needed for our camera sensor. We will go over sdf coding in future tutorials.
make a file in ~/catkin_ws/src/iq_sim/launch called hills.launch
then add the following lines
<launch>
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find iq_sim)/worlds/hills.world"/>
<!-- more default parameters can be changed here -->
</include>
</launch>
save the files ( ctrl + s )
roslaunch iq_sim hills.launch
clich on the Insert tab in the left column
add the model Winding Valley Heightmap
delete the model Ground Plane
add the model standing person
reposition the models as seen fit
save file and override our file hills.world