35 lines
769 B
Markdown
35 lines
769 B
Markdown
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# UAV Simulator
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### Build:
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```bash
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catkin_make
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```
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### MODE 1. PID Position Controller and Simulator
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Work with traditional planner
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```
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source devel/setup.bash
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roslaunch so3_quadrotor_simulator simulator_position_control.launch
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```
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### MODE 2. Attitude Controller with Disturbance Observer
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Work with our learning-based planner (without position controller)
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```
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source devel/setup.bash
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roslaunch so3_quadrotor_simulator simulator_attitude_control.launch
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```
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### Others
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pub disturbance
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```
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rostopic pub /force_disturbance
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```
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takeoff and land (used in realworld flight)
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```
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rosservice call /network_controller_node/takeoff_land
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```
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### acknowledgment
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This repo is modified from https://github.com/HKUST-Aerial-Robotics/Fast-Planner, thanks for their excellent work!
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