Sim_Helper

This module simulates various path finding algorithms through virtual quadcopter and turtlebot agents.

Setting Up The Simulation

• To adjust the number of simulated vehicles modify the ./launch/launch_sim.launch file. Changing the spawn_turtles argument enables/disables the list of turtlebots.

• To switch between the two basic modes of flying (basic waypoints and Dubins path) change the waypointmode argument. Default behavior is True which starts the basic waypoints algorithm.

Running The Simulation

• In one terminal run python scripts/Master.py.

• Wait a few seconds until Autopilot ARMED and RC override active are printed and then in another terminal run roslaunch sim_estimator.launch from the launch directory.

• If the simulation is set to run the setpoint generator code, wait until Takeoff! is printed in the second terminal and then use rosparam set /setpoint_publisher/active true if you are using the setpoint_generator to start the simulated quadcopter. Use rosparam set /setpoint_publisher/active false to signal the quadcopter to head back to the origin. Otherwise, if you are using dubins path, use rosparam set /setpoint_publisher/activaction false to launch it.