Exploration-PX4-Gazebo

Run FUEL and FALCON in Gazebo, PX4 SITL

Build and Run

Install dependencies

Follow FUEL and FALCON README.md

Build

mkdir -p explore_ws/src
cd explore_ws/src
git clone [email protected]:ChanJoon/Exploration-PX4-Gazebo.git --recursive
cd ..
catkin_make

Run original examples

FUEL

roslaunch fuel_exploration_manager rviz.launch
roslaunch fuel_exploration_manager exploration.launch

FALCON

roslaunch falcon_exploration_manager rviz.launch
roslaunch falcon_exploration_manager exploration.launch

Run algorithms with PX4 SITL

1. Add Gazebo models

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/explore_ws/src/Exploration-PX4-Gazebo/FUEL/fuel_planner/exploration_manager/models

Also, you need to export models in your custom world file.

2. Run

FUEL

roslaunch fuel_exploration_manager px4_sitl_gazebo.launch
roslaunch fuel_exploration_manager rviz.launch
roslaunch fuel_exploration_manager exploration_px4.launch
roslaunch px4ctrl px4_ctrl.launch

FALCON

Before runnign FALCON, turn auto_start to false in FALCON/falcon_planner/exploration_manager/config/exploration_manager.yaml

roslaunch fuel_exploration_manager px4_sitl_gazebo.launch
roslaunch falcon_exploration_manager rviz.launch
roslaunch falcon_exploration_manager exploration_px4.launch
roslaunch px4ctrl px4_ctrl.launch