As far as I know, as Sphinx is based on Gazebo, I can connect and control the drone using ROS packages (eg. bebop_autonomy does it for Bebop 2). However, in order to get the model state for other models than the drone (i.e. pedestrians, cars, static objects…) I find no easy way to do it.
One usual way is to use Gazebo “topics”, which publishes information about all the models in the simulation environment. I know it’s possible to connect it to ROS, but only if Gazebo is launched through ROS (
Is there a way to launch Sphinx through Gazebo? Alternatively, if I include the
fwman plugin in a Gazebo
.world and launch it using
Gazebo, would it work as if I use