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This repository acts as a hub for the rest of the projects hosted through the QUTAS repositories, including supporting examples and style guides.

Check the wiki for a host of information on a range of examples, subsystem comparisons, design considerations for smart UAS

Software Stacks

kinetic_sample_packages

A collection of sample C++ and python packages to use as a base for other ROS nodes

plume_sampler

A system to perform automatic air sampling when it detects that it is within a smoke plume

marker_localization

A few small ROS nodes identify ARUCO markers, determine a map of the environment, and determine a relative pose of a the camera

UAS Software

robin

A mavlink/mavros compatible firmware for Naze32-type flight control units

mavel

A position controller for multirotors in an arbitrary local frame

breadcrumb

A navigation controller with waypoint, failsafe, and external input capabilities.

Other Tools

teleop_offboard_attitude

A teleoperation interface to control UAS

rqt_mc_tuner

A rqt GUI to assist with tuning a multirotor flight controller

uavtaq_emulator

A system emulator for a university unit on systems engineering

transform_rebroadcaster

Convenient ROS node to change TransformStamped messages to a PoseStamped message