Skip to content

A ROS2 bridge for the Stanford Flightroom that takes in quadcopter trajectory data and outputs the corresponding setpoints in PX4.

License

Notifications You must be signed in to change notification settings

StanfordMSL/TrajBridge

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

TrajBridge

TrajBridge is a package that bridges PX4 to ROS2 for easy testing of trajectory following algorithms within a motion capture environment. It is set up such that a user need only to package their controller and call it within TrajBridge. The package provides easily editable nodes that expose the drone state and allow the user to publish to key layers of the PX4 controller [position,velocity,vehicle attitude and actuator motors]. The package takes care of the rest through a tunable state machine. We provide an example controller packages to aid the user:

  1. SimpleController: a simple package that converts a spline to desired Trajectory Setpoints

Check out the wiki page to get started.

About

A ROS2 bridge for the Stanford Flightroom that takes in quadcopter trajectory data and outputs the corresponding setpoints in PX4.

Resources

License

Stars

Watchers

Forks

Packages

No packages published