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lowjunen edited this page Oct 18, 2022 · 28 revisions

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:
    • [Body Rates (BoRa)]: Normalized Thrust + Body Rate
    • [Low Level (LoLe)] Normalized Thrust + Torques
  • Able to safely abort/land robots when algorithm fails or communication is compromised.
  • A Setup that is able to seamlessly switch between simulation and actual experiments.
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