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Environment for the Dynamic Simulation of ROS-Based UAVs

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Robot Operating System (ROS)

Part of the book series: Studies in Computational Intelligence ((SCI,volume 707))

Abstract

The aim of this chapter is to explain how to use the Virtual Robot Experimentation Platform (V-REP) simulation software with the Robot Operating System (ROS) to create and collect signals and control a generic multirotor unmanned aerial vehicle (UAV) in a simulation scene. This tutorial explains all the steps needed to select an UAV model, assemble and configure the propellers, configure the dynamic parameters, add sensors, and finally simulate the scene. The final part of the chapter presents an example of how to use MATLAB to create control scripts using ROS and also collect data from sensors such as accelerometers, gyroscopes, GPS, and laser scanners.

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References

  1. Coppelia and Robotics. 2015. Virtual robot experimentation platform user manual version 3.3.0. Technical report, Coppelia Robotics. http://www.coppeliarobotics.com/helpFiles/

  2. GrabCAd. 2016. GrabCAD Community Web Site GrabCAD. https://grabcad.com/library

  3. Coppelia and Robotics. 2015. V-rep rosplugin publishers. Technical report, Coppelia Robotics. http://www.coppeliarobotics.com/helpFiles/en/rosPublishers.htm

  4. Coppelia and Robotics. 2015. V-rep rosplugin subscribers. Technical report, Coppelia Robotics. http://www.coppeliarobotics.com/helpFiles/en/rosSubscribers.htm

  5. Meeussen, W. 2015. Coordinate Frames for Mobile Platforms Ros rep-105 coordinate frames for mobile platforms. Technical report, Ros.org. http://www.ros.org/reps/rep-0105.html

  6. Mathworks. 2016. Get Started with ROS in Simulink. Matlab Documentation, Mathworks. http://www.mathworks.com/help/robotics/examples/get-started-with-ros-in-simulink.html

  7. Corke, P. 2015. Integrating ros and matlab [ros topics]. IEEE Robotics Automation Magazine 22 (2): 18–20.

    Article  Google Scholar 

  8. Mathworks. 2016. Get started with ros. Technical report, Mathworks. https://www.mathworks.com/help/robotics/examples/get-started-with-ros.html

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Author information

Authors and Affiliations

  1. Federal Institute of Parana, Rua Joao Negrao, 1285, Curitiba, Brazil

    Alvaro Rogério Cantieri & Marlon de Oliveira Vaz

  2. Federal University of Technology - Parana, Av. Sete de Setembro, 3165, Curitiba, Brazil

    André Schneider de Oliveira, Marco Aurélio Wehrmeister & João Alberto Fabro

Authors
  1. Alvaro Rogério Cantieri
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  2. André Schneider de Oliveira
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  3. Marco Aurélio Wehrmeister
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  4. João Alberto Fabro
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  5. Marlon de Oliveira Vaz
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Corresponding author

Correspondence to Alvaro Rogério Cantieri .

Editor information

Editors and Affiliations

  1. College of CS & Informat Systems, Prince Sultan University College of CS & Informat Systems, Riyadh, Saudi Arabia

    Anis Koubaa

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© 2017 Springer International Publishing AG

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Cantieri, A.R., de Oliveira, A.S., Wehrmeister, M.A., Fabro, J.A., de Oliveira Vaz, M. (2017). Environment for the Dynamic Simulation of ROS-Based UAVs. In: Koubaa, A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, vol 707. Springer, Cham. https://doi.org/10.1007/978-3-319-54927-9_17

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  • DOI: https://doi.org/10.1007/978-3-319-54927-9_17

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-54926-2

  • Online ISBN: 978-3-319-54927-9

  • eBook Packages: EngineeringEngineering (R0)

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