ctu-mrs/mrs_uav_general

General stuff for UAVs in ROS, part of the "uav_core" package.

MRS UAV general

Build status

Overview

This package contains configuration files, launch files, and utilities that are over-arching the packages in the core.

• sensors.launch - launches sensor drivers and produces static TFs based on the environment variables in the .bashrc (applies only for real UAVs)
• core.launch - launches the control pipeline, consisting of
  • NodeletManager
  • ControlManager,
    • loads controllers
    • loads trackers
  • UavManager
  • GainManager
  • ConstraintManager
  • Odometry
• camera calibrations
• worlds - definition of the safety areas and local gps system placement, used by ControlManager and Odometry
• automatic start utility - triggers automatic takeoff after the uav is arm and successfully in offboard
  • disarms the UAV when pre-conditions are not met
  • can check for messages being published on topics specified in the config file
  • can trigger user nodes after takeoff via its automatic_start/start service (of type std_srvs/Trigger)
• record.sh script - generates and launches a launch file for recording rosbag (its simpler to add exclusions to this script)