https://github.com/kumarrobotics/kr_mav_control

Code for quadrotor control
https://github.com/kumarrobotics/kr_mav_control

control multirotor quadrotor ros simulation

Last synced: 4 days ago
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Code for quadrotor control

• Host: GitHub
• URL: https://github.com/kumarrobotics/kr_mav_control
• Owner: KumarRobotics
• License: bsd-3-clause
• Created: 2014-08-15T01:38:02.000Z (over 10 years ago)
• Default Branch: master
• Last Pushed: 2024-10-18T03:55:17.000Z (3 months ago)
• Last Synced: 2025-01-04T16:33:41.398Z (26 days ago)
• Topics: control, multirotor, quadrotor, ros, simulation
• Language: C++
• Homepage:
• Size: 4.68 MB
• Stars: 111
• Watchers: 29
• Forks: 44
• Open Issues: 10
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

        
kr_mav_control

=================

ROS packages for quadrotor control

[![Build Status](https://github.com/KumarRobotics/kr_mav_control/workflows/build-and-test/badge.svg)](https://github.com/KumarRobotics/kr_mav_control/actions?query=workflow%3Abuild)

### 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`: Translates `kr_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 under `kr_trackers`, and `kr_trackers_manager`

### Example use cases:

The multi robot examples uses following packages.

* [kr_multi_mav_manager](https://github.com/KumarRobotics/multi_mav_manager)

* [mrsl_quadrotor](https://github.com/KumarRobotics/mrsl_quadrotor)

* [waypoint_navigation_tool](https://github.com/KumarRobotics/waypoint_navigation_plugin)

[Running single robot with the included simple simulator](doc/QuadSim.md)

[Running multiple robots with the included simple simulator](doc/MultiSim.md)

[MATLAB interface with simple simulator](doc/MultiMatlab.md)

[Python interface with simple simulator](doc/PythonExample.md)

[Running with Gazebo](doc/QuadGazebo.md)

[Running multiple robots with Gazebo](doc/MultiGazebo.md)

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.

![Block Diagram](doc/kr_mav_control_block_diag.png)

Further detailed breakdown of the blocks can be found in

the [PPT](doc/kr_mav_control_block_diagram.pptx)