The MRS UAV System Core

⚠️ Attention please: This README needs work.

The MRS UAV System 1.5 is being released and this page needs updating. Please, keep in mind that the information on this page might not be valid.

Installation

The Core is installed as a part of the MRS UAV System.

Contents

The core takes care of the collowing aspects of the autonomous UAV flight:

• hardware abstraction,
• state estimation,
• feedback control,
• reference generation,
• trajectory generation,
• flight management,
• takeoff and landing,
• plugin interfaces for feedback controllers, reference trackers, state estimators, and hardware api.

Moreover, the core provides

• MRS libraries,
• MRS ROS messages,
• MRS Rviz plugins,
• MRS multirotor simulator.

Submodules

Repository
mrs_lib
mrs_msgs
mrs_multirotor_simulator
mrs_rviz_plugins
mrs_uav_controllers
mrs_uav_autostart
mrs_uav_hw_api
mrs_uav_managers
mrs_uav_state_estimators
mrs_uav_status
mrs_uav_trackers
mrs_uav_trajectory_generation

Disclaimer

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.