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‎README.md

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# CICRSIM
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## 仿真世界加载二维码
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Clone our project and put [apriltag](/apriltag/) in /home/${USER_NAME}/.gazebo/models, so you can see apriltags on the wall in the simulation world.
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## 仿真器相关话题
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We provide a basic quadrotor model with a depth camera attached to it. Users can subscribe to odom topic and depth topic published in the simulation. Some topics are as follows:
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```
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odom_topic: /ardrone/ground_truth/odometry
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depth_topic: /camera/depth/image_raw
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quadrotor control topic: /gazebo/set_model_state
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```
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## 仿真器编译
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This project has been tested on 18.04(ROS Melodic) and 20.04(ROS Noetic). Take Ubuntu 18.04 as an example, run the following commands to install required tools:
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```
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sudo apt-get install ros-melodic-joy ros-melodic-octomap-ros ros-melodic-mavlink python-wstool python-catkin-tools protobuf-compiler libgoogle-glog-dev ros-melodic-control-toolbox ros-melodic-mavros
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```
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Then simply clone and compile our package (using ssh here):
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```
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cd ${YOUR_WORKSPACE_PATH}/src
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git clone [email protected]:SYSU-STAR/CICRSIM.git
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cd ../
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catkin_make
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```
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## 键盘控制节点
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For keyboard, you should install ```pygame``` first, by:
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```
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sudo apt-get install python-pygame
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```
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在仿真世界加载完成之后再启动键盘控制！！！！！！即先启动launch文件
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```
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source devel/setup.bash
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roslaunch uav_simulation keyboard_control.launch
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等待仿真加载完成,打开新终端
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source devel/setup.bash
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rosrun uav_simulation keyboard_control.py
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控制方式：方向键控制无人机前后左右的速度, W和S控制飞机上下, A和D控制飞机yaw角朝向
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```
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## Acknowledegments
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We use [RotorS](https://github.com/ethz-asl/rotors_simulator) to generate a quadrotor and odometry information, [apriltag_ros](https://github.com/AprilRobotics/apriltag_ros.git) to detect Apriltags. We really appreciate these open source projects!
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‎apriltag/materials/scripts/aruco.material

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material apriltag/Diffuse0
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{
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receive_shadows off
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technique
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{
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pass
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{
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texture_unit
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{
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texture apriltag-0.png
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filtering anistropic
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max_anisotropy 16
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}
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}
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}
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}
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material apriltag/Diffuse1
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{
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receive_shadows off
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technique
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{
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pass
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{
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texture_unit
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{
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texture apriltag-1.png
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filtering anistropic
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max_anisotropy 16
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}
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}
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}
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}
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material apriltag/Diffuse2
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{
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receive_shadows off
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technique
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{
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pass
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{
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texture_unit
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{
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texture apriltag-2.png
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filtering anistropic
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max_anisotropy 16
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}
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}
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}
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}
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material apriltag/Diffuse3
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{
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receive_shadows off
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technique
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{
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pass
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{
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texture_unit
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{
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texture apriltag-3.png
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filtering anistropic
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max_anisotropy 16
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}
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}
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}
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}
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material apriltag/Diffuse4
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{
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receive_shadows off
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technique
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{
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pass
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{
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texture_unit
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{
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texture apriltag-4.png
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filtering anistropic
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max_anisotropy 16
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}
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}
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}
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}
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material apriltag/Diffuse5
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{
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receive_shadows off
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technique
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{
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pass
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{
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texture_unit
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{
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texture apriltag-5.png
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filtering anistropic
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max_anisotropy 16
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}
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}
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}
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}
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material apriltag/Diffuse6
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{
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receive_shadows off
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technique
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{
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pass
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{
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texture_unit
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{
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texture apriltag-6.png
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filtering anistropic
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max_anisotropy 16
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}
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}
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}
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}
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material apriltag/Diffuse7
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{
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receive_shadows off
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technique
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{
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pass
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{
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texture_unit
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{
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texture apriltag-7.png
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filtering anistropic
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max_anisotropy 16
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}
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}
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}
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}
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material startflag/Diffuse
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{
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receive_shadows off
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technique
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{
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pass
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{
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texture_unit
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{
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texture h.png
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filtering anistropic
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max_anisotropy 16
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}
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}
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}
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}
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material startflag/Diffuse1
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{
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receive_shadows off
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technique
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{
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pass
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{
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texture_unit
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{
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texture apriltag-0.png
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filtering anistropic
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max_anisotropy 16
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}
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}
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}
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}

‎apriltag/materials/textures/apriltag-0.png

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‎apriltag/materials/textures/apriltag-1.png

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‎apriltag/materials/textures/apriltag-2.png

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‎apriltag/materials/textures/apriltag-3.png

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‎apriltag/materials/textures/apriltag-4.png

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‎apriltag/materials/textures/apriltag-5.png

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‎apriltag/materials/textures/apriltag-6.png

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‎apriltag/materials/textures/apriltag-7.png

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‎apriltag/materials/textures/h.png

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‎apriltag/model.config

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<?xml version="1.0"?>
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<model>
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<name>aruco</name>
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<version>1.0</version>
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<sdf version="1.4">model.sdf</sdf>
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<author>
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<name>zhuang</name>
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</author>
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<description>
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aruco for uav
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</description>
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</model>

‎apriltag/model.sdf

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<?xml version='1.0'?>
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<sdf version='1.4'>
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<model name="aruco">
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<link name='link'>
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<pose>0 0 0.115 0 1.57 0</pose>
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<inertial>
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<mass>0.390</mass>
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<inertia>
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<ixx>0.00058</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.00058</iyy>
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<iyz>0</iyz>
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<izz>0.00019</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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<geometry>
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<box>
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<size>.496 .496 .01</size>
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</box>
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</geometry>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size>.496 .496 .01</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://aruco/materials/scripts</uri>
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<uri>model://aruco/materials/textures</uri>
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<name>startflag/Diffuse1</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</sdf>

‎cicr2023_simulator/gazebo_plugins/realsense_gazebo_plugin/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package realsense_gazebo_plugin
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.1.0 (2020-01-30)
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------------------
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* Merge branch 'pointcloud_ferrum' into 'ferrum-devel'
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added methods to publish the pointcloud information
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See merge request device/realsense_gazebo_plugin!14
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* added methods to publish the pointcloud information
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* Update readme to remove explicit mention to REEM-C
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* Contributors: Sai Kishor Kothakota, Victor Lopez
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1.0.4 (2019-12-10)
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------------------
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* Merge branch 'gazebo_xacro_ferrum' into 'ferrum-devel'
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remove gazebo and URDF xacro
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See merge request device/realsense_gazebo_plugin!12
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* remove gazebo and URDF xacro
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* Contributors: Sai Kishor Kothakota, Victor Lopez
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1.0.3 (2019-11-05)
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------------------
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* Add SYSTEM to include_directories
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* Contributors: Victor Lopez
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1.0.2 (2019-10-30)
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------------------
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* Merge branch 'mesh-fix-ferrum' into 'ferrum-devel'
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fixed the issue with mesh location
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See merge request device/realsense_gazebo_plugin!10
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* fixed the issue with mesh location
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* Contributors: Adria Roig, Sai Kishor Kothakota
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1.0.1 (2019-10-30)
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------------------
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* Merge branch 'multi-realsense-ferrum' into 'ferrum-devel'
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Update plugin to support multiple realsense camera's
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See merge request device/realsense_gazebo_plugin!7
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* Update plugin to support multiple realsense camera's
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* Contributors: Adria Roig, Sai Kishor Kothakota
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1.0.0 (2019-09-10)
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------------------
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* Adapted to latest gazebo API changes
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* Contributors: Jordan Palacios
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0.0.3 (2019-03-28)
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------------------
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* Fix licenses for public release
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* Contributors: Adria Roig
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0.0.2 (2019-03-05)
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------------------
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* Merge branch 'realsense' into 'master'
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Fix missing installation files
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See merge request device/realsense_gazebo_plugin!2
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* Fix missing installation files
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* Contributors: Adria Roig
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0.0.1 (2019-03-01)
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------------------
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* Rm unnecessary dependees
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* Fix dependencies
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* Merge branch 'realsense' into 'master'
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Realsense
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See merge request adriaroig/realsense_gazebo_plugin!1
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* Rm unnecessary files
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* Rm unneccessary files
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* Delete CMakeLists.txt.user
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* Initial commit
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* Contributors: Adria Roig

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