Marsupial tutorial

A marsupial vehicle consists of a parent mobile robot with a child quadcopter mounted on top. There are limited combinations of supported parent-child relationships, see the robot list.

Local deployment

A marsupial vehicle can be defined by adding a marsupialN=parent:child parameter to your launch command. For example:

ign launch -v 4 cave_circuit.ign worldName:=simple_cave_01 robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 robotName2:=X3 robotConfig2:=X3_SENSOR_CONFIG_1 marsupial1:=X1:X3 

REST API Cloudsim deployment

In order to deploy a marsupial vehicle on Cloudsim just add a -F marsupial="parent:child" to your curl command. More information is available here.

The following example mimics the local deployment above.

curl -k -X POST --url https://cloudsim.ignitionrobotics.org/1.0/simulations -F name="MyMarsupialTest" -F owner="YOUR_ORG" -F circuit="Cave Practice 1" -F robot_name="X1" -F robot_type="X1_SENSOR_CONFIG_1" -F robot_image="YOUR_DOCKER_IMAGE" -F robot_name="X3" -F robot_type="X3_SENSOR_CONFIG_1" -F robot_image="YOUR_DOCKER_IMAGE" -F marsupial="X1:X3" --header "Private-Token: YOUR_PRIVATE_TOKEN"