UVDAR Gazebo plugin

Build status

Description

This package contains plugins for generating synthetic outputs emulating the images produced by UV-sensitive cameras onboard of MAVs, observing blinking UV LEDs attached to targets The output is used in simulations involving the UVDAR System for mutual relative localization of MAVs

This package was developed for the Gazebo robotic simulator and it has been tested with version 9.13. Compatibility with other versions is currently not guaranteed.

System requirements

Hardware:

Fairly powerful CPU. Ideally have at least one core/thread per each camera included in the simulation. Additionally, the requirements increase further if you enable obstacle occlusions - this is necessary to test the effects of partial or complete occlusions on the precision of the estimation

Software

• ROS (Robot Operating System) Melodic Morenia
• Gazebo robotic simulator - Gazebo simulator v. 9.13
• mrs_msgs - ROS package with message types used by the MRS group
• uvdar_core - Processing of the UVDAR inputs

For testing

• mrs_uav_system Our ROS-based ecosystem for flying and testing multi-UAV systems. Includes simulation with examples of attaching this plugin to objects in the simulated world

Installation

Install the dependencies. Clone this repository into a ROS workspace as a package. If you are using the mrs_modules meta package (currently only accessable internally to MRS staff, to be released at later date), this repository is already included. Build the package using catkin tools (e.g. catkin build uvdar_gazebo_plugin)

Testing

See in uvdar_core

Acknowledgements

MRS group

This work would not be possible without the hard work, resources and support from the Multi-Robot Systems (MRS) group from Czech Technical University.

Included libraries

This package contains the following third-party libraries by the respective authors:

• OCamCalib calibration system by Davide Scaramuzza - only the C++ sources