Overview
mrsim-gazebo is a gazebo plugin for multi-rotor simulation.
It emulates the tk3-mikrokopter software running on Mikrokopter hardware via a pty implementing the tk3-mikrokopter communication protocol and all the tk3-mikrokopter features so that the hardware can be fully emulated.
The rotor dynamics are simulated using a realistic motor model and a simple thrust/drag propeller model. The same hardware velocity controller as implemented in the tk3-mikrokopter software controls the propellers velocities. Then, at the user's choice, either the geometry of a model can be used to compute the total wrench applied to the rigid body, or an explicit allocation matrix can be specified.
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Members
Developer: Anthony Mallet, Antonio Franchi, Aurélie Clodic, Christelle Ecrepont, Daniel Sidobre, Florent Lamiraux, François Félix Ingrand, Guilhem Saurel, Joseph Mirabel, Jérôme Manhes, Malik Ghallab, Marco Cognetti, Martin Jacquet, Matthieu Herrb, Olivier Stasse, Patrick Danes, Simon Lacroix, robots