vrep-ros-control

NOTE: THIS REPOSITORY IS STILL UNDER CONSTRUCTION

This repo will allow you to control a quadcopter in VREP through ROS in Python. The current project is using /quad_cmd_twist that can be controlled with your keyboard. The current scenario allows the user to roll, pitch and yaw. However, takeoff and land has not been implemented.

Requirements

• ROS Kinetic on Ubuntu 16.04 LTS
• VREP 3.2.2
• 'ros' plugin loaded in VREP. If for some reason, you do not see 'ros' plugin when you start vrep or get 'ros' load failed error then follow this tutorial: https://www.youtube.com/watch?v=3Ml0N8-iCwU
• rospy
• rospkg

Compilation

1. To run the program, first run roscore in one terminal and ./vrep.sh in another terminal. If you see 'ros' plugin succeeded then move to step 2.
2. Start the simulation.
3. In another terminal, run ./main.py or python main.py
4. To control the drone, press w, a, s, d, q, e keys on the keyboard.
5. To stop publishing, press X. This will stop all current nodes.

License

MIT