Controllers for controlling MAVs using the mavros package in OFFBOARD mode.

The repository contains controllers for controlling MAVs using the mavros package. The following packages are included in the repo

• geometric_controller: Trajectory tracking controller based on geometric control
• controller_msgs: custom message definitions
• trajectory_publisher: Node publishing setpoints as states from motion primitives / trajectories for the controller to follow.

The geometric controller publishes and subscribes the following topics.

• Parameters

  • /geometric_controller/mavname (default: "iris")
  • /geometric_controller/ctrl_mode (default: MODE_BODYRATE)
  • /geometric_controller/enable_sim (default: true)
  • /geometric_controller/enable_gazebo_state (default: false)
  • /geometric_controller/max_acc (default: 7.0)
  • /geometric_controller/yaw_heading (default: 0.0)
  • /geometric_controller/drag_dx (default: 0.0)
  • /geometric_controller/drag_dy (default: 0.0)
  • /geometric_controller/drag_dz (default: 0.0)
  • /geometric_controller/attctrl_constant (default: 0.2)
  • /geometric_controller/normalizedthrust_constant (default: 0.1)

• Published Topics

  • command/bodyrate_command ( mavros_msgs/AttitudeTarget )
  • reference/pose ( geometry_msgs/PoseStamped )

• Subscribed Topics

  • reference/setpoint ( geometry_msgs/TwistStamped )
  • /mavros/state ( mavr0s_msgs/State )
  • /mavros/local_position/pose ( geometry_msgs/PoseStamped )
  • /gazebo/model_states( gazebo_msgs/ModelStates )
  • /mavros/local_position/velocity( geometry_msgs/TwistStamped )

Trajectory publisher publishes continous trajectories to the trajectory_controller.

• Parameters

  • /trajectory_publisher/initpos_x (default: 0.0)
  • /trajectory_publisher/initpos_y (default: 0.0)
  • /trajectory_publisher/initpos_z (default: 1.0)
  • /trajectory_publisher/updaterate (default: 0.01)
  • /trajectory_publisher/horizon (default: 1.0)
  • /trajectory_publisher/maxjerk (default: 10.0)
  • /trajectory_publisher/trajectory_type (default: 0)
  • /trajectory_publisher/number_of_primitives (default: 7)
  • /trajectory_publisher/shape_radius (default: 1.0)

• Published Topics

  • reference/trajectory ( nav_msgs/Path )
  • reference/setpoint ( geometry_msgs/TwistStamped )

• Subscribed Topics

  • /trajectory_publisher/motionselector (std_msgs/int32);
  • /mavros/local_position/pose ( geometry_msgs/PoseStamped )
  • /mavros/local_position/velocity( geometry_msgs/TwistStamped )

[1] Lee, Taeyoung, Melvin Leoky, and N. Harris McClamroch. "Geometric tracking control of a quadrotor UAV on SE (3)." Decision and Control (CDC), 2010 49th IEEE Conference on. IEEE, 2010.

[2] Faessler, Matthias, Antonio Franchi, and Davide Scaramuzza. "Differential flatness of quadrotor dynamics subject to rotor drag for accurate tracking of high-speed trajectories." IEEE Robot. Autom. Lett 3.2 (2018): 620-626.

Jaeyoung Lim [email protected]