ROS2 Drone Simulation and Control

This ROS2 project includes two nodes: BaseStationNode and DroneNode, which together simulate the control and movement of a drone. The project utilizes ROS2 for messaging and RViz for visualization.

Overview

• BaseStationNode: This node publishes velocity commands to control the drone's linear and angular movements.
• DroneNode: This node simulates the drone's position and orientation, broadcasting its transformation relative to a world frame.

Prerequisites

• ROS2 (Foxy or later)
• RViz (for visualization)

Installation

1. Clone the repository into your ROS2 workspace's src directory.
2. Navigate back to your ROS2 workspace root and build the project with colcon build.
3. Source the workspace with source install/setup.bash.

Running the Simulation

1. Start the BaseStationNode:
2. In a separate terminal, start the DroneNode:

Visualizing with RViz

1. Launch RViz:
2. In RViz, add a TF display to visualize the drone's transformation.
3. Optionally, add other displays as needed to visualize different aspects of the drone's movement and environment.

Customization

• You can modify the BaseStationNode to change the drone's command velocities.
• Adjust the DroneNode to simulate different movement patterns.

Troubleshooting

• Ensure all ROS2 dependencies are installed.
• Verify that your ROS2 workspace is correctly sourced.
• Check RViz configurations and ensure the correct frame is selected.

Contributing

Contributions to enhance or extend the functionality of this project are welcome. Please follow the standard ROS2 development practices for contributions.