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.
Members
Developer: Anthony Mallet, Antonio Franchi, Arnaud Degroote, Arthur Bit-Monnot, Aurélie Clodic, Burak Yuksel, Christelle Ecrepont, Christophe Reymann, Daniel Sidobre, Davide Bicego, Ellon Paiva Mendes, Florent Lamiraux, François Ingrand, Guilhem Saurel, Hermes Tello Chavez, Joseph Mirabel, Jules Waldhart, Justin Carpentier, Jérôme Manhes, Kévin Desormeaux, Malik Ghallab, Marco Tognon, Markus Ryll, Matthieu Herrb, Michele Furci, Nicolas Mansard, Nicolas Staub, Olivier Stasse, Patrick Danes, Pierre Narvor, Pierrick Koch, Quentin Labourey, Quentin Sable, Rohan Budhiraja, Simon Lacroix, Victor Arellano