V-rep Quad Exploration

A vrep simulation of a quadcopter performing autonomous exploration in an unknown environment.

• Python
• V-Rep
• ROS

Environment Details/Instructions

How to run the position publisher

• Open the scene in this folder in verp
• Run roscore in one terminal
• Run python position_publisher.py in another terminal

How to add obstacles to the obstacle space

• Add a non respondable object of the desired width and length inside the vrep scene in this repository.
• Append the name of the newly added object to the objectsList list in the file position_publisher.py
• When the vrep scene is open, the node will automatically read the objects and create an obstacle space with the size as read from the length of the topWall and the leftWall

Notes

• The axis is defined as the x axis to the right and y axis up with the origin at the bottom left corner, as viewed from the top.(As represented by a Origin dummy object in the vrep scene in this repository)