This demo repository is for the simulation and hardware testing for the unmanned aerial vehicle (UAV) controllers. The demo repo can be simply used by running provided launch files.
- uav_geometric_controller (C++ implementation)
- uav__control (python implementation)
- Start Vicon camera server and run vicon tracker
- Run motion capture:
roslaunch uav_demo base_station.launch
- Run mission window:
roslaunch uav_demo odroid.launch
- ssh login from basestation
- Run controller node:
roslaunch uav_demo moca.launch
- Make sure ROS_MASTER_URI is set to base station and also ROS_IP for the basestation
- gain tuning
rosrun rqt_reconfigure rqt_reconfigure - plot
rosrun rqt_plot rqt_plot - Visualization
rosrun rviz rviz
- Take off
- Land
- Point to ping
- Hover etc.
- Jetson
- Orbitty Carrier Manual