#ROCKET SIMULATOR SCRIPT HOW TO#
#ROCKET SIMULATOR SCRIPT CODE#
#ROCKET SIMULATOR SCRIPT WINDOWS#

Because there are many different scenarios that are The hardest part was not the simulation, but calculating unknowns. The Rocket object somewhat ties together the rocket properties, p5 canvas, and matter.js engine. Parameters are not passed to the Rocket object until they are all defined and the user clicks 'Start'. The Rocket class contains all the information about the rocket

#ROCKET SIMULATOR SCRIPT CODE#

The code is not the easiest to sort through, but it is organized. The code is available (or will be available) on my github at /closetothe. A scaling factor had to be determinedĮxperimentally so that the resulting simulation would be in the ballpark of What does it mean to apply a velocity of '1'?). The documentation for matter.js is very unclear about what the units mean (for example, It is important to note that the physics engine is not completely calibrated.

Plots the velocity over time using d3.js.

Calculates remaining unknowns given any set of known rocket quantities.

The nodes GUI_interface and rqt_gui take care of the graphical interface, and rosbag logs all simulation data for following analysis.This web app was created for my final AERO 485 project at Concordia University The nodes aerodynamic, disturbance, integrator and wind_generator are computing the physics of the simulation. Then the different nodes of the simulator are loaded.

#ROCKET SIMULATOR SCRIPT HOW TO#

We will see later how to change these files to configure the simulation parameters. yaml files and placed inside groups for convenience: Then the different user parameters are loaded from their. The other available mode is Thrust which starts the simulation only when the thrust is higher than the weight of the rocket. We can look inside the file rocket_sim.launch, which defines how the simulator should be configured.įirst the launch trigger mode is set to Command, which means that the simulation will start as soon as we hit the Publish button. Try changing the desired thrust and engine orientation to see how it affect the trajectory. The second command is roslaunch, another important ROS command-line tool that allow to configure ROS and launch multiple nodes. The desired thrust and engine orientation is specified, and the -r 10 option specify to send this message at 10Hz. Here we publish ( pub) on the topic /gimbal_command_0 with a message of type rocket_utils/GimbalControl.

The first command is rostopic, a classic ROS command-line tool that can manipulate ros messages. Roslaunch real_time_simulator rocket_sim.launch Then the rocket engine is commanded a thrust of 2000 N, aligned with the rocket body (both angles at 0 rad), and the simulator is started: (sleep 5 rostopic pub /gimbal_command_0 rocket_utils/GimbalControl 'header: Let's see what is inside this script bash_scripts/test_simu.sh.įirst the workspace is built and the terminal configured: set -e You can stop the simulation whenever you want by hitting CTRL+C on the terminal that started the simulation. If everything goes well, the rocket should be launched and reach an apogee of around 1100 meters after 15 seconds.

#ROCKET SIMULATOR SCRIPT WINDOWS#

This serves as a good test to see if everything is correctly installed.Ĭlick on the Publish button at the bottom of the windows to start the simulation.

Let's see how to start right away a basic simulation without any programming!Ī simple script is provided in /bash_scripts to launch a complete simulation. This means every module should be able to run and be tested independently. This framework is developed with modularity as its core.

Rocket simulator script