3D Mapping Hexacopter Simulation using Gazebo and Robot Operating Sytem(ROS)

摘要

This paper present a simulation of Unmanned Aerial Vehicle which is type of hexacopter for building 3D maps of exploration environment. This simulation using Gazebo Simulator environment with Software In the Loop (SITL) ardupilot that is integrated with Robot Operating System as a open source flexible framework for writing robot software. To proceed 3D maps construction, we have installed Intel Realsense R200 RGB-D camera on hexacopter for getting RGB image data and Depth data that will be computed by open source octomap ROS package to result 3D Maps. Octomap using octree data structure to form 3D Map of voxel with odometry of hexacopter.