redbird_quadrotor

Autonomous flight control for quadrotor drones.

Build & run instructions

Assumptions:

• mavros and mavlink can be found by rospack (for roslaunch). You can either:
  • build from source and source the resulting <catkin_workspace>/devel/setup.bash after build
  • install prebuilt binaries

Build the Gazebo simulation and Mavros node

git clone https://github.com/redbirdrobotics/px4-firmware.git && \
cd px4-firmware && \
git submodule update --init --recursive && \
make posix_sitl_default gazebo # Ctrl+C after gazebo starts

Start the Gazebo simulation and Mavros node

. setup_px4_sitl_gazebo.bash && \
roslaunch px4 mavros_posix_sitl.launch

or run our own simulated world:

cd redbird_quadrotor # from this repository's root
cd <path/to/px4-firmware> && \ # insert path here
. setup_px4_sitl_gazebo.bash && \
cd - && \
. devel/setup.bash && \
roslaunch redbird_quadrotor_controller gazebosim.launch

Start the flight control node

rosrun redbird_quadrotor_controller redbird_quadrotor_controller_node

Glossary

• SITL: Software-in-the-loop