Simulation of a world with floating wind turbines

Uses Ignition and simple_launch.

Spawning GZ + wind farm

The following command will spawn an empty world with buoyancy plugin:

ros2 launch drone_sim_environment farm_launch.py

Spawning a wind turbine as SDF model

The following command will spawn the wind farm with joint state publisher:

ros2 launch drone_sim_environment turbine_launch.py

Spawning a wind turbine as SDF model and running PX4 simulation:

ros2 launch drone_sim_environment wind_px4.launch.py

parameters:

• nx, ny: number of turbines in x and y directions (default 1, 1)
• x, y: position of the first turbine (default 0, 0)
• scale: distance between two turbines (default 200)
• yaw: orientation of the farm (default 0)
• velocity: angular velocity of the turbines (default -15)

Running both in a single terminal

This command will run Ignition, then spawn the farm with the given arguments:

ros2 run drone_sim_environment world.sh <args>