Drone tutorial

In this tutorial, we will implement a simulation to operate the remote-controlled robot model "Drone" using a gamepad (joystick). The tutorial consists of nine stages, from Step 0 to Step 4. By following these steps in order, you can specifically learn how to realize a basic simulation.

注釈

The content of this tutorial is based on the Tank Tutorial from the official Choreonoid documentation, with the Tank model replaced by the Drone model.

• Step 0: Creating a drone model
  • Drone model
  • Basic Model Structure
  • Preparing the Model File
  • About YAML
  • Writing the Header
  • Writing Links
  • Link Node
  • Writing the Chassis Link
  • Root Link-Specific Description
  • Writing Rigid Body Parameters
  • Writing the Chassis Shape
  • Checking the Model Being Edited
  • Setting Anchors
  • Writing elements
  • Using Aliases
  • Writing Devices
  • Writing the Camera
  • Writing Camera Position and Orientation
  • Camera Shape
  • Writing the IMU
  • Writing the BatteryDevice
  • Writing the Rotor Link
  • Writing Link Relative Position
  • Writing the Joint
  • Checking Joint Operation
  • RigidBody Node
  • Transform Node
  • Transform Parameters
  • Writing the Front Right Rotor
  • Writing the Front Left Rotor
  • Writing the Rear Left Rotor
  • Writing the Rear Right Rotor
• Step 1: Creating a simulation project
  • Launching Choreonoid
  • Importing the Drone model
  • Importing the ground model
  • Creating a simulator item
  • Setting properties
  • Creating a multi-collider item
  • Setting properties of the multi-collider item
  • Creating a sub-simulator item
  • Saving a project
  • Launching a simulation
  • Stopping a simulation
• Step 2: Implementing a controller
  • Controller format
  • Implementing the “DroneController1” controller
  • Creating a project directory
  • Building the controller
  • CMakeLists.txt notation
  • Controller compilation
  • Controller item creation
  • Setting the controller body
  • Launching a simulation
  • How this implementation works
    • The SimpleController Class
    • Including headers
    • Class member variable declarations
    • Implementing the initialize function
    • Implementing the control function
    • Factory function definitions
• Step 3: Controlling the drone with a gamepad
  • Gamepad setup
  • Virtual joystick view setup
  • Controller source code
  • Controller compilation
  • Swapping controllers
  • Drone operation
  • How this implementation works
    • Including headers
    • Constants and namespace
    • Class member variable declarations
    • Implementing the initialize function
    • Implementing the control function
    • Factory function definitions
• Step 4: Simulating and polling camera images
  • Camera devices
  • Changing cameras in the Scene View
  • Simulating camera images
  • Controller source code
  • Deploying the controller
  • Polling and displaying camera images
  • How this implementation works
• Full description of the drone model file

In this tutorial, we assume the environment is Ubuntu Linux. Therefore, please proceed with the steps on Ubuntu Linux as a general rule. While the source code itself is compatible with other operating systems, the compilation methods will differ slightly, just as they do with the main Choreonoid application.

The project files and source code created in this tutorial are available for download here .