GoMavSimulator

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<!-- PROJECT SHIELDS -->

<!-- PROJECT LOGO --> <br /> <div align="center"> <a href="https://github.com/timetravelCat/GoMavSimulator"> <img src="assets/icon/GoMavSimulator.png" alt="Logo" width="400" height="320"> </a> <p align="center"> A general perpose simulation app which is powered by Godot, MAVSDK and ROS2 for robotics applications. <br /> <a href="https://github.com/timetravelCat/GoMavSimulator/tree/main/docs"><strong>Explore the docs »</strong></a> <br /> <br /> <a href="https://drive.google.com/file/d/1glVoOS9Agmiz97uZ9ULsO2GhZks26fbg/preview">View Demo</a> · <a href="https://github.com/timetravelCat/GoMavSimulator/issues">Report Bug</a> · <a href="https://github.com/timetravelCat/GoMavSimulator/issues">Request Feature</a> </p> </div> <!-- TABLE OF CONTENTS --> <details> <summary>Table of Contents</summary> <ol> <li> <a href="#about-the-project">About The Project</a> <ul> <li><a href="#built-with">Built With</a></li> </ul> </li> <li> <a href="#getting-started">Getting Started</a> </li> <li><a href="#usage">Usage</a></li> <li><a href="#installation-from-sources">Installation from sources</a></li> <li><a href="#roadmap">Roadmap</a></li> <li><a href="#contributing">Contributing</a></li> <li><a href="#license">License</a></li> <li><a href="#contact">Contact</a></li> </ol> </details> <!-- ABOUT THE PROJECT -->

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.

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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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