/Tesse-ROS-Bridge-Simulator

Geometric Controller and Trajectory Optimization of Drone in ROS using Tesse Simulator and RViz

Primary LanguageMakefile

Introduction

  • Currently Updating the repository with videos and more detailed explanation

  • These projects are based on MIT - VNAV course

  • The current repository shows an ROS based implementation of an Geometric Controller in SE3 to follow a desired trajcteory in 3D space.

ROS and Tesse framework

image

  1. Important Topics
  • desired_state
  • rotor_speeds
  • current state
  1. Important Nodes
  • traj_publisher
  • controller_node

Breif:

  • A publisher node publishes 'desried states' of the trajectory to a desire_state topic.
  • This topic is subscribed by the controller node along with current_state topic.
  • The data from these topics is used for calculating the rotor speeds of the quadrotor to match the desried state at that particular time step.

Results

image video