Simulating Quadcopter Missions with Simulink and ROS

[@stephenworsley]

Hi guys, great video! I'm wondering why Gazebo was used? Could the plant and environment not have been simulated in Simulink as well?

[@roboticseabass]

Yes -- in fact you can find a couple Simulink quadcopter examples here: Link 1: goo.gl/DPG1wu Link 2: goo.gl/KkrGJ5 Gazebo and Simulink are a little different in their strengths. Ultimately, it depends on what you need from simulation. Gazebo is more of a physics engine/virtual environment, so it will give you "good enough" physics for system simulation, and is quite good at virtual sensing -- that is, simulating camera/lidar/point cloud sensor feeds for algorithm design. The latter is why Gazebo was used in this example. On the other hand, Simulink is equipped with robust solvers for differential equations so you can implement detailed and accurate simulation models of your robot, down to the low-level actuator dynamics, controls, and so on. Referring back to the earlier links, there is a Simulink 3D Animation product (Link 1) for simulating virtual environments, and also a Simscape Multibody product (Link 2) for 3D rigid body mechanics + visualization.

[@stephenworsley]

Cool! thank you for the response. Very interesting stuff.

[@mariahdorarallos9043]

Good day, was trying out this project but have encounter errors in gazebo saying imav17 not found.

[@OmarShukurov]

problem is the code is very old. I needed to recode some of the prerequisites and codes in order to get it to work.

[@ayhangultekin38]

/quadrotor_1/cmd_vel publish from simulink but not subscribe from drone in gazebo because of this drone not move

[@aarushiguptaa2769]

What is your colleagues' name who makes the video on ROS? Reference: 4:00

[@aarushiguptaa2769]

Sebastian Castro kzbin.info/www/bejne/gYHPq4apjLyZgqc

[@chawki4761]

I'm simulating a quadrotor command on Gazebo. I have connected Simulink to Gazebo and I can send the velocities to the quadrotor without problems, but,I can not receive the real data from the drone; when I connect a scope block to the subscribe block, the "Z position" signal for example remains at zero even if the drone is changing position ! same thing for the other coordinates. I read the following: ## Notes ## If a model can control the drone but does not receive any data from the drone, make sure you have set the *ROS_IP* environment variable in the VM before running ROS. But how can I set the ROS_IP ? can anyone help to solve this problem ? Thank you in advance,

[@roboticseabass]

Have you seen this resource? wiki.ros.org/ROS/EnvironmentVariables Also, on the MATLAB side, check out this answer: www.mathworks.com/matlabcentral/answers/119559-why-is-the-ros-subscriber-callback-in-matlab-not-triggered-when-messages-are-published-from-an-exter