From 7d330e2bcec09a6ab7fba325eac060102b30a5dc Mon Sep 17 00:00:00 2001 From: Naman Malik Date: Thu, 12 Sep 2024 05:11:05 +0530 Subject: [PATCH] Added readme instructions to launch the simulation (#46) --- custom_gz_plugins/README.md | 36 ++++++++++++++++++++++++++++++++++++ 1 file changed, 36 insertions(+) diff --git a/custom_gz_plugins/README.md b/custom_gz_plugins/README.md index 4d6a35e8..4ab331b1 100644 --- a/custom_gz_plugins/README.md +++ b/custom_gz_plugins/README.md @@ -61,6 +61,7 @@ Custom models made from real elevation data (From NASA's Planetary Data System) This will run the container where you can launch the simulation. > If the container is running, you can use the same script/command in another terminal instance to attach a terminal into the docker. +### GUI PLUGINS - Once the docker container is up, you can use the demo launch file to launch the simualtion using the following command. ```shell @@ -68,6 +69,41 @@ ros2 launch custom_gz_plugins demo_world.launch.py ``` > In order to user the GUI Plugin: DustManger or DayLightManger, use to menu option in the simulation (Top Right Corner) to load the plugin +### System Plugins +#### Vehicle Dust +- Inside the docker container, navigate to the worlds directory using the following command +```bash +cd /home/spaceros-user/demos_ws/src/demos/custom_gz_plugins/worlds +``` +- Use the follwing command to launch the world in GZ SIM + +```bash +gz sim -r vehicle_dust_demo.sdf +``` +- Use the teleop GUI plugin in GZ SIM to drive the robot im order to see the dust effect in the simulation + +#### Drone Dust +- Inside the docker container, navigate to the worlds directory using the following command +```bash +cd /home/spaceros-user/demos_ws/src/demos/custom_gz_plugins/worlds +``` +- Use the follwing command to launch the world in GZ SIM + +```bash +gz sim -r vehicle_dust_demo.sdf +``` + +- Run the follwoing command to launch the ros-gz bridges +```bash +ros2 launch custom_gz_plugins ingenuity.launch.py +``` + +- Run the following command to start the teleop node of ingenuity. +```bash +ros2 run custom_gz_plugins inguenity_control +``` +- Use the teleop node to fly the ingenuity robot im order to see the dust effect in the simulation +> Note: These simulations are just to demonstate the plugins features so the dynamics and physics of the models might not be accurate. \ No newline at end of file