Specification of initial UAV position and GPS coordinate origin for the MRS system about mrs_uav_system HOT 6 CLOSED

Hi, you can specify the initial position of drone in simulation using --pos_file parameter. See this session.yml as an example. The initial position can be loaded from csv or yaml file (see pos.yaml).

For changing of GPS coordinate origin for our system, you have to update this file to be in match with origin of your world. Or do it in opposite way and modify origin in your world file to match the one in the our setting. See #22

Edited: updated link to file with GPS coordinate origin

from mrs_uav_system.

How am i able to launch the custom configs into the session.yml files of the tmux examples scripts. For example, i want to spawn the one_drone_gps with the uneven_plane and then add some obstacles inside as shown in the world.simulation.yaml.
So when i set waypoints in this simulation, i noticed that there is a hdg value that reads the height or the terrain with respect to the ground. Will appreciate if i could get guidance to where is this file located.

from mrs_uav_system.

Update: tried inputing this in one_drone_gps by replacing the gazebo world part with:

• gazebo:
  layout: tiled
  panes:
  - roslaunch mrs_simulation simulation.launch gui:=true world_file:='$(find custom_gazebo_resources)/worlds/custom_world.world'
  - waitForRos; roslaunch mrs_simulation simulation.launch world_name:=world_simulation.yaml gui:=true
  - waitForOdometry; gz camera -c gzclient_camera -f uav1; history -s gz camera -c gzclient_camera -f uav1

But only boots the one drone gps into an empty world
not sure what i did wrong to prevent the config world from spawnning

from mrs_uav_system.

Hi, have you seen this https://ctu-mrs.github.io/docs/simulation/custom_world.html? In the example above you are running two times the gazebo simulation with world. Usually, the empty world in the gazebo means that the world file doesn't exist (the path to the world file is not correct) or contains some error.

from mrs_uav_system.

@Wizzya Have you managed to run it as you wanted?

from mrs_uav_system.

I can run default simulations thanks for your help. But cuurrently still having trouble with launching custom worlds

from mrs_uav_system.