simulation.md

Simulation Environment

The simulation environment is based on Parrot Sphinx. It supports ANAFI 4K and ANAFI Ai.

Note

Sphinx simulator does not allow running multiple drones.

Installation

Important

Sphinx simulator runs only on 64-bit Ubuntu 20.04 and Ubuntu 22.04.

Follow the installation procedure.

Usage

1. In terminal 1,

   1. start the system service firmwared:

      sudo systemctl start firmwared.service
      

   2. launch the firmware

      • for ANAFI Ai:

        sphinx "/opt/parrot-sphinx/usr/share/sphinx/drones/anafi_ai.drone"::firmware="https://firmware.parrot.com/Versions/anafi2/pc/%23latest/images/anafi2-pc.ext2.zip"
        

      • for ANAFI 4K:

        sphinx "/opt/parrot-sphinx/usr/share/sphinx/drones/anafi.drone"::firmware="https://firmware.parrot.com/Versions/anafi/pc/%23latest/images/anafi-pc.ext2.zip"
        

2. In terminal 2, start the empty world

   parrot-ue4-empty
   

   [!NOTE] You can check other available worlds.

3. In terminal 3, launch ROS bridge

   • for ANAFI Ai:

     ros2 launch anafi_ros_nodes anafi_launch.py ip:='10.202.0.1' model:='ai'
     

   • for ANAFI 4K:

     ros2 launch anafi_ros_nodes anafi_launch.py ip:='10.202.0.1' model:='4k'
     

Interaction with Sphinx

It is possible to interact with Sphinx simulation environment by using pysphinx.

1. Before being able to use it, you have to set the LD_LIBRARY_PATH and PYTHONPATH environment variables, by runnung in a new terminal:

   . /opt/parrot-sphinx/usr/bin/parrot-sphinx-setenv.sh
   

2. Then, in the same terminal run the ROS node

   • for ANAFI Ai:

     ros2 run anafi_ros_nodes sphinx --ros-args -r __ns:=/anafi -p drone_name:=anafi_ai
     

   • for ANAFI 4K:

     ros2 run anafi_ros_nodes sphinx --ros-args -r __ns:=/anafi -p drone_name:=anafi
     

Ground truth pose

The ground truth pose is published on drone/pose topic at 1KHz.

Teleportation

It is possible to move the drone by publishing the desired pose on the drone/move topic.