tum_simulator on Indigo
These packages are used to simulate the flying robot Ardrone in ROS environment using gazebo simulator. Totally they are 4 packages. Their functions are descript as below:
1. cvg_sim_gazebo: contains object models, sensor models, quadrocopter models, flying environment information and individual launch files for each objects and pure environment without any other objects.
2. cvg_sim_gazebo_plugins: contains gazebo plugins for the quadrocopter model. quadrotor_simple_controller is used to control the robot motion and deliver navigation information, such as: /ardrone/navdata. Others are plugins for sensors in the quadrocopter, such as: IMU sensor, sonar sensor, GPS sensor.
3. message_to_tf: is a package used to create a ros node, which transfers the ros topic /ground_truth/state to a /tf topic.
4. cvg_sim_msgs: contains message forms for the simulator.

How to install the simulator:
1. Create a workspace for the simulator

$ mkdir -p ~/tum_simulator_ws/src
$ cd  ~/tum_simulator_ws/src
$ catkin_init_workspace

2.  Download first package from source

$ git clone https://github.com/AutonomyLab/ardrone_autonomy.git -b indigo-devel


3.  Build #1 pack

$ cd ~/catkin_ws
$ catkin_make

4.  Download second package from source

$ git clone https://github.com/algron/tum_simulator.git -b indigo

5.  Build #2 pack

$ cd ~/catkin_ws
$ catkin_make

6. Source the environment

$ source devel/setup.bash


7. Run a simulation by executing a launch file in cvg_sim_gazebo package:

$ roslaunch cvg_sim_gazebo ardrone_testworld.launch



	Sites:

- http://wiki.ros.org/tum_simulator

- https://github.com/AutonomyLab/ardrone_autonomy

- https://github.com/algron/tum_simulator/tree/indigo