This code is used to run the FlightGoggles simulator. This code also contains the instantiated quadrotor controllers. The structure is as follows:
- flightcontroller: The instantiated quadrotor controllers
- flightgoggles: FlightGoggles source code used to simulated the dynamics of the racing quadrotor.
- imu_tools: Tools used to filter the IMU data which is noisy.
- simulator_com: Connects the simulated dynamics with the Unity visualization engine.
- universal_teleop: Tools used to manually fly the quadrotor.
$ rosdep install --from-paths src --ignore-src -r -y
When Running the angle_test you can use this to control the angle
$ rostopic pub -r 1000 /uav/input/attitude geometry_msgs/Vector3 '{x: 0, y: 0.0, z: 1.57}'
When running the velocity_test you can use this command to test the velocity
$ rostopic pub -r 1000 /uav/input/velocity geometry_msgs/Vector3 '{x: 0, y: 0.0, z: 1}'
When running the position_test you can use this command to test the position
$ rostopic pub -r 1000 /uav/input/position geometry_msgs/Vector3 '{x: 0, y: 0.0, z: 0.0}'
The Controllers are named as follows:
- speed-2_minsnap0: Unstable waypoint controller
- speed-1_minsnap0: Stable waypoint controller
- speed2_minsnap0: Fixed velocity controller 2m/s
- speed5_minsnap0: Fixed velocity controller 5m/s
- speed10_minsnap0: Fixed velocity controller 10m/s
- speed-1_minsnap-1: Minsnap controller