Simulate UAV with rviz.
- 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.
ros2 launch uav_simulation sim_uav.launch.py
pva
:- position: x y z
- velocity: vx vy vz
- acceleration: ax ay az
- yaw: yaw dot_yaw 0
Thanks rotors_simulator, Minimum Snap Trajectory Generation and Control for Quadrotors, Geometric Tracking Control of a Quadroror UAV on SE(3)