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uav_simulation's Introduction

UAV-SIMULATOR

Simulate UAV with rviz.

Features

  • ROS2 humble support.
  • Simulate UAV with rviz.
    • external forces and air resistance
  • A simple trajectory generator.
  • 2D and 3D mode.
    • 2D mode: UAV can only move in z-y plane with PD control.
    • 3D mode: UAV can move in x-y-z plane with SE3 control.

RUN

ros2 launch uav_simulation sim_uav.launch.py

SYMBOLS

  • pva:
    • position: x y z
    • velocity: vx vy vz
    • acceleration: ax ay az
    • yaw: yaw dot_yaw 0

Acknowledgement

Thanks rotors_simulator, Minimum Snap Trajectory Generation and Control for Quadrotors, Geometric Tracking Control of a Quadroror UAV on SE(3)

uav_simulation's People

Contributors

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Watchers

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