kr_mav_control
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Code for quadrotor control
kr_mav_control
ROS packages for quadrotor control
Stack includes:
-
kr_mav_manager
: A manager for the kr_mav_control stack -
rqt_mav_manager
: GUI interface for common kr_mav_manager functions -
interfaces
: Translateskr_mav_msgs/SO3Command
to corresponding robots interface. -
kr_quadrotor_simulator
: Simple quadrotor dynamics simulator -
kr_mav_msgs
: Common msgs used across packages -
kr_mav_controllers
: Position controllers -
trackers
: Different trackers underkr_trackers
, andkr_trackers_manager
Example use cases:
The multi robot examples uses following packages.
Running single robot with the included simple simulator
Running multiple robots with the included simple simulator
MATLAB interface with simple simulator
Python interface with simple simulator
Running with Gazebo
Running multiple robots with Gazebo
This code has been tested with ROS Noetic on Ubuntu 20.04.
Block Diagram
The following block diagram shows how the packages in the repo fit together.
Further detailed breakdown of the blocks can be found in the PPT