A general perpose simulation app which is powered by Godot, MAVSDK and ROS2 for robotics applications.
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Table of Contents

1. About The Project
   • Built With
2. Getting Started
3. Usage
4. Installation from sources
5. Roadmap
6. Contributing
7. License
8. Contact

About The Project

GoMavSimulator is created for development of robotics applications such as autonomous flight/driving. It directly provide various sensor simulation results through ROS2's messaging middleware.

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Built With

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Getting Started

• Install OpenSSL 1.1.1* (windows only)
• Add OpenSSL binary path(C:\Program Files\OpenSSL-Win64\bin) to System PATH
• Download latest release
• Run as admin (for windows)
• Configure simulation
  • Select ground-truth position/orientation topics from MAVSDK or ROS2
  • Setup sensors (image, depth image, PointClouds, range ...)
• Run VehicleSensorSubscriber node from GoMavSimulator-ros2-demo
• If you are using ubuntu & running not binaries but godot editor,
  • currently supported platforms are 20.04 & 22.04
  • you need to run ./setup.sh before you open this project.
  • If you want to support other versions of linux, you need to build GDextension modules.
• Please refer to docs for more details.

Usage

Please refer to the Documentation

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Installation from sources

git clone https://github.com/timetravelCat/GoMavSimulator.git

• Open GoMavSimulator by godot editor, 4.1.1 or more recent
• Run in editor
• Add a scene/vehicle model/sensor, Documentation
• Manually export by templates Exporting projects

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Roadmap

See the open issues for a full list of proposed features (and known issues).

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Contributing

Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are greatly appreciated.

If you have a suggestion that would make this better, please fork the repo and create a pull request. You can also simply open an issue with the tag "enhancement". Don't forget to give the project a star! Thanks again!

1. Fork the Project
2. Create your Feature Branch (git checkout -b feature/AmazingFeature)
3. Commit your Changes (git commit -m 'Add some AmazingFeature')
4. Push to the Branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

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License

Distributed under the Apache License. See LICENSE.txt for more information.

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Contact

timetravelCat - timetraveler930@gmail.com

Project Link: https://github.com/timetravelCat/GoMavSimulator

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