How to Launch?

Launch FlytSim

Once you have installed FlytSim, you are ready to build your own apps and run it out on the simulation software. To launch FlytSim, run this command in the new terminal.

$ launch_flytSim

Caution: If you get this error: bash: launch_flytSim: command not found, try to launch FlytSim in a new terminal.

Note: For first time Gazebo users, Gazebo might take some time to launch. Be Patient!

The above command would launch ROS and Gazebo. A hexrotor model-typhoon-h480 will be automatically spawned for you to start executing your app. You can use FlytAPIs in your command line to do some simple maneuvers. For example,

#To make the vehicle take off at its spot, execute this command in your terminal.
$ rosservice call /flytsim/navigation/take_off "takeoff_alt: 2.0"
#To send a position setpoint to the vehicle in NED frame, execute this command in your terminal.
rosservice call /flytsim/navigation/position_set "twist:
seq: 0
stamp: {secs: 0, nsecs: 0}
frame_id: ''
linear: {x: 3.0, y: 1.0, z: -2.0}
angular: {x: 0.0, y: 0.0, z: 0.0}
tolerance: 0.0
async: false
relative: false
yaw_valid: false
body_frame: false"
#This sends the vehicle to location (3,1,-2) in NED Frame.

Caution: Gazebo runs in ENU frame, hence the above setpoints given in NED Frame would be transformed to ENU Frame by Gazebo.

To know more about such commands, please refer to FlytAPIs for more details.

Stop FlytSim

To stop this instance of FlytSim, run this command in your terminal.

$ stop_flytSim