Simulator Integration Failure

[hve4638]

The operation of takeoff, landing, and flight works correctly in QGC. After executing roscore, rosbridge_websocket.launch runs without issues. Installing ZilantSimulator-Linux64-0.1.19.zip from https://github.com/ZilantRobotics/Simulator3d/releases operates properly. When executing innosim_relay.launch, rviz works.

To integrate QGC, ZilantSimulator, and rviz, how should it be done?

1.Should the execution through "tmux" be done by modifying the internals of run_all.sh from https://github.com/ZilantRobotics/inno_sim_interface/tree/master/scripts?

2.In executing innosim_relay.launch from https://github.com/ZilantRobotics/inno_sim_interface/tree/master/launch, after changing

<node pkg="inno_sim_interface" type="innosim_relay_node.py" name="innosim_relay_node"/>

to <node pkg="inno_sim_interface" type="dynamics3d_relay_node.py" name="dynamics3d_relay_node"/> and adding

<node pkg="inno_sim_interface" type="innosim_vtol_bridge.py" name="innosim_vtol_bridge"/>

the issue was not resolved.

innosim_relay.launch and run_all.sh have not been updated for a long time, and it's unclear how to proceed with the integration.

OS: Ubuntu 20.04
ROS: Melodic

[frontw]

Hi there! Thanks for reaching out.

Indeed, the inno_sim_interface repo has some legacy stuff. For your current setup, to setup communication with ZilantSimulator3d you should just run python dynamics3d_relay_node.py along with roslaunch rosbridge_server rosbridge_websocket.launch. The run_all.sh script is a bit outdated now; it was originally created for launching everything in tmux windows, but isn't really needed anymore.

If you're up for updating the run_all.sh script, that would be fantastic! Otherwise, I plan to clean up the repo soon to avoid further confusion.

Hope this helps!

[devandress]

Hi, the link to acces the simulator dosnt work right know. It will change soon?