COSMOS Integrated Gazebo simulation for odor tracking and testing

Odor simulator for gazebo-classic and ROS 1.0 using PX4 controller

Installation procedure:

1. Setup Gazebo and PX4

2. Setup PX4 Firmware

3. Setup your workspace

4. You might need to install the following dependencies:

   sudo apt-get install libgstreamer-plugins-base1.0-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly -y

5. Add the following paths in your .bashrc

   source ~/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash ~/PX4-Autopilot ~/PX4-Autopilot/build/px4_sitl_default
   export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot
   export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic
   export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/lib/x86_64-linux-gnu/gazebo-9/plugins

6. How to use?:

   • To run it with CSV

     cd ~/PX4-Autopilot/launch/
     roslaunch mavros_posix_sitl.launch
     rosrun gazebo_px4_simulator csv_trajectory.py
     

   • Velocity control with cosmos odor simulator

     cd ~/PX4-Autopilot/launch/
     roslaunch mavros_posix_sitl.launch
     rosrun gazebo_px4_simulator surge_cast_vel.py x y (e.g. 40 -8)

   • Position control with cosmos odor simulator

     cd ~/PX4-Autopilot/launch/
     roslaunch mavros_posix_sitl.launch
     rosrun gazebo_px4_simulator surge_cast_position.py x y (e.g. 40 -8)

   • To visualize in rviz:

     roslaunch gazebo_px4_simulator tracking_rviz_visualization.launch 

   • Edited world file is here, that can be replaced with the system world file, usually found in the below directory:

     cd ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/ 

   • To add wind forces to the gazebo-classic environment, add the below lines to the world file

     <plugin name="WindPublisherPlugin" filename="libWindPublisherPlugin.so">
     <frameId>world</frameId>
     <windVelocityMean>6.0</windVelocityMean>
     <windVelocityMax>8.0</windVelocityMax>
     <windVelocityVariance>1.0</windVelocityVariance>
     <windDirectionMean>1 0 0</windDirectionMean>
     <windGustStart>1.0</windGustStart>
     <windGustDuration>2.0</windGustDuration>
     <gustVelocityMean>8.0</gustVelocityMean>
     <gustVelocityVariance>2.0</gustVelocityVariance>
     </plugin>
     <sensor name="wind_sensor" type="custom">
     <always_on>1</always_on>
     <update_rate>10</update_rate>
     <plugin name="wind_sensor_plugin" filename="libWindSensorPlugin.so">
     <topic>/drone/wind</topic>
     </plugin>
     </sensor>