Integration of ROS and Gazebo Platform using MAVLINK Protocol for Real-Time UAV Applications

摘要

In today’s world advances in robotics and automation have underscored the importance of data for testing and development, so it’s very necessary to try different ways to collect the data at low cost. This paper presents a comprehensive approach to gathering sensor data through the MAVLink protocol in conjunction with the ROS (Robot Operating System) framework and Gazebo simulator. The integration of these technologies enables the creation of a simulated environment where sensor data can be realistically emulated and processed. The methodology involves configuring a simulated iris drone model equipped with a variety of sensors, establishing a communication link between Gazebo and ROS using the MAVROS package, and employing ROS nodes for data collection and analysis. Through this integration, various sensors including cameras, IMUs, GPS, and lidars are simulated, and their data is efficiently harvested for further processing. Results showcase the effectiveness of the proposed approach, demonstrating the potential for realistic sensor data acquisition in controlled environments. This paper contributes to the advancement of robotics research by providing a detailed framework for generating and harnessing simulated sensor data for algorithm testing and development.