Control UAV in Gazebo With Simulink
10 次查看(过去 30 天)
显示 更早的评论
I added a quadcopter, installing some packages, in the preset "Differential-Drive Robot" simulation environment for co-simulation in Gazebo with Simulink and i modified the blocks. The rotors are rotate but the drone does not take off. Anyone have experiences?
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/657515/image.jpeg)
0 个评论
回答(1 个)
Jianxin Sun
2021-6-18
Set motor joint velocity will rotate the rotors but that will not generate lift since Gazebo is not simulating aerodynamices. You would need to compute lift and torque yourself based on motor speed and apply them to the UAV's motor link. You can check out GazeboMotorModel::UpdateForcesAndMoments in https://github.com/ethz-asl/rotors_simulator/blob/master/rotors_gazebo_plugins/src/gazebo_motor_model.cpp for reference.
2 个评论
Jianxin Sun
2021-6-21
You can use Simulink to directly compute force and torque and apply to Gazebo links.
另请参阅
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!