GzUav: A Gazebo-based framework for ArduCopter multi-UAV simulation

About GzUav

GzUav (from "Gazebo" and "UAV") is a framework to run multiple-UAV simulations in Gazebo.

It consists of a set of custom programs/scripts and plug-ins for other projects. In particular, it offers:

Patches for ArduCopter 3.6.0 (which, among other things, make simulated UAVs be ready to fly much faster – 10 seconds instead of 1 minute).
A tool, called GzUavChannel, that helps keeping the simulation clock stricly sychronised in all programs that are part of the simulation.
A Gazebo plugin that works as a GzUavChannel-aware interface for ArduCopter.
An optional module for the Ns-3 network simulator, to synchronise its clock too. This enables integration of realistic wireless networking in the simulation.

Example programs, written in DroneKit-python, for autonomous UAV operations are also provided.

The lastest release is GzUav 0.2 (pre-release). Installation procedures are documented in the release notes.

Older releases can be found in the archive section.