Simulation: Utilizing Pixhawk in simulation
Is it possible to utilize pixhawk control without the use of Gazebo? We would like to be able to publish necessary data (such as IMU or pose) and, in turn, subscribe to the output of the pixhawk controller. It is not clear to us which topics are needed by pixhawk to function, and how we could run it as a standalone, without the Gazebo simulator running.
Thanks!
Piotr Slawinski
Hi Piotr, You can try using pymavlink (python bindings for the mavlink) that comes as a part of the mavlink package, https://github.com/mavlink/mavlink/tree/master/pymavlink
If you have installed the SITL on your system, you should already have pymavlink otherwise, follow the instructions at https://github.com/mavlink/mavlink
Alternatively, dronekit python API is another (preferably better) way to go http://python.dronekit.io/
I will try to find some examples for these that you should be able to run in either the Gazebo environment (without using ROS/mavros), or in the unity simulator if the simulated flight controller in that environment implements mavlink.
Please let me know if you have any questions.
-JD