UAV_demo

This demo repository is for the simulation and hardware testing for the unmanned aerial vehicle (UAV) controllers. The demo repo can be simply used by running provided launch files.

Dependancies

• uav_geometric_controller (C++ implementation)
• uav__control (python implementation)

Steps to run uav flight tests

On basestation computer

1. Start Vicon camera server and run vicon tracker
2. Run motion capture:

• roslaunch uav_demo base_station.launch

3. Run mission window:

• roslaunch uav_demo odroid.launch

On uav computer

1. ssh login from basestation
2. Run controller node: roslaunch uav_demo moca.launch

Common issues:

• Make sure ROS_MASTER_URI is set to base station and also ROS_IP for the basestation

Useful ROS package

• gain tuning rosrun rqt_reconfigure rqt_reconfigure
• plot rosrun rqt_plot rqt_plot
• Visualization rosrun rviz rviz

Missions:

• Take off
• Land
• Point to ping
• Hover etc.

Hardware

• Jetson
• Orbitty Carrier Manual