Robot Operating System Cookbook

Simulator overview

We can split up the RotorS simulator into various packages, as shown in the following diagram. We can incorporate an already existing robot into the simulation by describing its geometry and kinematic properties:

A modular Gazebo MAV simulator framework

A simulator design can be divided into the following steps:

1. Model selection, you can either:
   • Pick one of the models provided by RotorS
   • Build a custom model
2. Attaching sensors to the MAV, you can either:
   • Use one of the Xacro for the sensors shipped with RotorS
   • Develop a custom sensor and attach it directly
3. Adding a controller to the MAV, you can either:
   • Start one of ...