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: 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.

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