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- '''
- This is an example builder script that sets up a quadcopter in Morse to
- be driven by ArduPilot.
- The quadcopter has the basic set of sensors that ArduPilot needs
- To start the simulation use this:
- morse run quadcopter.py
- Then connect with ArduPilot like this:
- sim_vehicle.py --model morse --console --map
- This model assumes an X frame quadcopter, so you will need:
- FRAME_CLASS 1
- FRAME_TYPE 1
- '''
- from morse.builder import *
- # use the ATRV rover
- vehicle = Quadrotor()
- vehicle.properties(Object = True, Graspable = False, Label = "Vehicle")
- vehicle.translate(x=0.0, z=1.0)
- # add a camera
- camera = SemanticCamera(name="Camera")
- camera.translate(x=0.2, y=0.3, z=0.9)
- vehicle.append(camera)
- camera.properties(cam_far=800)
- camera.properties(Vertical_Flip=True)
- # we could optionally stream the video to a port
- #camera.add_stream('socket')
- # add sensors needed for ArduPilot operation to a vehicle
- pose = Pose()
- vehicle.append(pose)
- imu = IMU()
- vehicle.append(imu)
- gps = GPS()
- gps.alter('UTM')
- vehicle.append(gps)
- velocity = Velocity()
- vehicle.append(velocity)
- # create a compound sensor of all of the individual sensors and stream it
- all_sensors = CompoundSensor([imu, gps, velocity, pose])
- all_sensors.add_stream('socket')
- vehicle.append(all_sensors)
- # make the vehicle controllable via force and torque
- # this will be available on port 4000 by default
- engines = QuadrotorDynamicControl()
- vehicle.append(engines)
- engines.add_stream('socket')
- # this would allow us to control the vehicle with a keyboard
- # we don't enable it as it causes issues with sensor consistency
- #keyboard = Keyboard()
- #keyboard.properties(Speed=3.0)
- #vehicle.append(keyboard)
- # Environment. Run in fast mode which gives wire-frame view, but lowers
- # CPU load a lot
- env = Environment('land-1/trees', fastmode=True)
- env.set_camera_location([10.0, -10.0, 10.0])
- env.set_camera_rotation([1.0470, 0, 0.7854])
- env.select_display_camera(camera)
- env.set_camera_clip(clip_end=1000)
- # startup at CMAC. A location is needed for the magnetometer
- env.properties(longitude = 149.165230, latitude = -35.363261, altitude = 584.0)
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