Robot Operating System Cookbook

Hovering

The following command will start the simulation:

$ roslaunch rotors_gazebo mav_hovering_example.launch  

In the following screenshot we can see the hex-rotor helicopter taking off after 5 seconds, and flying to the point P = (0,0,1):

Hovering

In addition, the following diagram shows the ROS communication network, which gives an overview of all the ROS nodes that are running, and the topics on which the nodes are communicating:

Hovering – ROS communication network

Although, in the preceding screenshot, Gazebo is only shown as one ROS ...