Skyrats simulation package

ROS package for PX4-Gazebo-ROS Software-In-The-Loop simulations for the Skyrats team.

Contents

• launch: launchfiles for starting gazebo worlds/PX4 simulations with ROS
• models: SDF and URDF models
• plugins: Gazebo plugins
• scripts: Setup scripts
• worlds: Gazebo worlds

Launching the simulation

# To configure the Skyrats Gazebo Interface
gedit ~/.gazebo/gui.ini
# Add this to the end of the file:
[overlay_plugins]
filenames=libskyrats_interface.so

# Convenience script for building the PX4 Firmware and setting up Environment Variables
source scripts/setup.bash

# Plain SITL simulation with Iris drone
roslaunch px4 mavros_posix_sitl.launch