Perception and control block connections for RotorS simulations

[jwangjie]

Hi Antonio,

Thank you @antonilo very much for sharing your great work out. It's very helpful.

I wonder can you help me with conducting simulations of your codes in RotorS? I installed necessary pieces followed the intructions of drone_control/dronet unitl step 6. In step 6, instead of launching the real bebop, I lanuched a bebop2 in the RotorS environment and verifed the connections, then I launched perception and control blocks by roslaunch dronet_perception dronet_launch.launch and roslaunch dronet_control deep_navigation.launch. The rqt_graph looks as follows

I tried to conduct the following Connect the Perception and Control Block instructions. I don't have the bebop/takeoff rostopic and the drone has no respond to rostopic pub --once /bebop/state_change std_msgs/Bool "data: true". The rqt give a blank window when I tried to use you recomended GUI approach.

I wonder did I miss any step in order to make the simulation work? Thanks lot for any advice.

Regards, Jie

[antonilo]

Try to check out this implementation of dronet in a simulator: https://github.com/eridgd/rotors-bebop, I am sure you can find a good reference there!