How to use grvc ual

grvc-ual allows you to control multiple UAVs in real or simulated experiments without prior knowledge of the specific autopilot. There are some examples on each backend that you can run for testing the repo, and you can use the code of these examples to build your own apps using grvc-ual.

There are different ways of using and interfacing with UAL, explained here.

In general, each backend should have a "server" node, which runs the corresponding backend with the UAL interface. Also, each backend should have at least a "server.launch" file and maybe a "simulation.launch" file. The instructions and details of each launch are on the corresponding backend wiki page:

• Backend MAVROS
• Backend MAVLink
• Backend Gazebo Light
• Backend DJI ROS
• Backend Unreal Engine

As a general rule, you can always run:

$ roslaunch ual_backend_{backend_name} server.launch