Hummingbird Webots Simulation Package

System Setup

1. Setup ROS2 workspace (only if you don't already have a ros2 workspace)

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

2. Clone the repositories

git clone https://github.com/Olin-HAIR-Lab/hbird_webots.git

In the hbird_webots package, the files of importance are:

hbird_webots folder

• scripts folder for any supplementary python scripts that are not nodes
• chbird_sim_node.py file which is the ROS node that receives position setpoints from the agent_control_node and executes them on the drones in Webots

launch folder

• demo.launch.py, the launch file for the flight arena using one HB vehicle

protos folder

• meshes folder, holds all .obj files for each CAD (racks, dropoff bins, and takeoff pads) along with their respective.mtl files, and the STL_files folder holds the STL files for the base body of the drone and the propeller
• textures folder, holds the .jpg images for the colors of the rack bins and the image displayed in Webots when the propellers move quickly
• Mark2Assembly.proto is the proto file for the Mark 2 drone

resource folder

• hbird_drone.urdf is the URDF file that the webots_ros_driver ROS node uses to connect the controller and sensor plugins declared in the URDF to the robot in Webots

worlds folder

• flight_arena.wbt, the Webots world file that contains a simple, empty flight arena