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Welcome to the TrajBridge wiki! The goal of this code base is to provide a bridge between ROS(1) and PX4 with easy and robust access to low-level control for multiple robots.

Key Objectives

• Have a Ground Control Station (GCS) that outputs a desired state (pose,twist) at 10Hz
• Have a Companion Computer that can switch between three different types of input into the flight controller:
  • Pose,Twist (10Hz)
  • Normalized Thrust + Body Rate (200Hz)
  • Normalized Thrust + Torques (200Hz)
• Able to safely abort/land robots when algorithm fails or communication is compromised.