README.md

uavasr_emulator

Unmanned Aerial Vechicle Artic Search and Rescue Emulator. Small ROS publisher to output dummy data in the form of images, pose messages, and sensor readings.

Installing Dependencies

Please download and install using the instructions for the QUT Flight Stack

Running

roslaunch uavasr_emulator emulator.launch

Additionally, a unique UAV name can be used when launching the emulator (replace UAVNAME with the desired name, defaults to "uavasr"):

roslaunch uavasr_emulator emulator.launch uav_name:=UAVNAME

Other Launch Files

• If you have the spar packages installed, you can find details to launching the combined system on the Spar Readme.
• If you have the qutas_lab_450 packages installed, you can find details to launching a full "assessment system" on the QUTAS Lab 450 Readme.

Subscribed Topics

• Local Position Setpoint (mavros_msgs/PositionTarget): /UAVNAME/setpoint_raw/local

Published Topics

• Autopilot State (mavros_msgs/State): /UAVNAME/state
• Battery Reading (sensor_msgs/BatteryState): /UAVNAME/battery
• Current Position (geometry_msgs/PoseStamped): /UAVNAME/pose
• Current Odometery (nav_msgs/Odometry): /UAVNAME/odom
• Local Position Setpoint Feedback (mavros_msgs/PositionTarget): /UAVNAME/setpoint_raw/local