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Aggressive trajectory tracking using mavros for PX4 enabled vehicles
| Date | Stars |
|---|---|
| 2026-07-24 | 507 |
| 2026-07-25 | 507 |
| 2026-07-28 | 507 |
| 2026-07-30 | 507 |
| 2026-08-06 | 507 |
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# mavros_controllers [](https://github.com/Jaeyoung-Lim/mavros_controllers/actions?query=workflow%3A%22Build+Test%22) [](https://zenodo.org/badge/latestdoi/140596755) Controllers for controlling MAVs using the [mavros](https://github.com/mavlink/mavros) package in OFFBOARD mode. ## Overview The repository contains controllers for controlling MAVs using the mavros package. The following packages are included in the repo - geometric_controller: Trajectory tracking controller based on geometric control - controller_msgs: custom message definitions - trajectory_publisher: Node publishing setpoints as states from motion primitives / trajectories for the controller to follow. [](https://user-images.githubusercontent.com/5248102/87020057-a3e25200-c1d3-11ea-9f76-cd010cb8329a.gif) [](https://youtu.be/FRaPGjX9m-c "Hovering done") [](https://youtu.be/IEyocdnlYw0 "Circular trajectory tracking") ## Getting Started ### Install PX4 SITL(Only to Simulate) Follow the instructions as shown in the [ROS with Gazebo Simulation PX4 Documentation](https://dev.px4.io/master/en/simulation/ros_interface.html) To check if the necessary environment is setup correctly, you can run the gazebo SITL using the following command ```bash cd <Firmware_directory> DONT_RUN=1 make px4_sitl_default gazebo ``` To source the PX4 environment, run the following commands ```bash cd <Firmware_directory> source ~/catkin_ws/devel/setup.bash # (optional) source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd) export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo ``` You can run the rest of the roslaunch files in the same terminal ```bash roslaunch px4 posix_sitl.launch ``` You will need to source the PX4 environment in every new terminal you open to launch mavros_controllers. ### Installing mavros_controllers Create a catkin workspace: This folder will probably be already created since the previous process would have created it. If it is not present, do: ```bash mkdir -p ~/catkin_ws/src cd ~/catkin_ws catkin init catkin config --merge-devel cd ~/catkin_ws/src wstool init ``` ###### Clone this repository ```bash cd ~/catkin_ws/src git clone https://github.com/Jaeyoung-Lim/mavros_controllers ``` Now continue either with wstool to automatically download dependencies or download them manually. ###### With wstool wstool automates the installation of dependencies and updates all packages. If you have no problem updating the packages required by mavros_controllers and/or any other packages, follow this procedure. If not, follow the next 'Manually Download dependencies and build' section. ```bash cd ~/catkin_ws wstool merge -t src src/mavros_controllers/dependencies.rosinstall wstool update -t src -j4 rosdep install --from-paths src --ignore-src -y --rosdistro $ROS_DISTRO catkin build source ~/catkin_ws/devel/setup.bash ``` ###### Manually Download dependencies and build If you did not install with wstool, you need to manually download the dependencies: - [catkin_simple](https://github.com/catkin/catkin_simple) - [eigen_catkin](https://github.com/ethz-asl/eigen_catkin) - [mav_comm](https://github.com/ethz-asl/mav_comm) Do: ```bash cd ~/catkin_ws/src git clone https://github.com/catkin/catkin_simple git clone https://github.com/ethz-asl/eigen_catkin git clone https://github.com/ethz-asl/mav_comm ``` Build all the packages: ```bash cd ~/catkin_ws catkin build source ~/catkin_ws/devel/setup.bash ``` ## Running the code Remember to source the workspace `setup.bash` before sourcing the
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Jaeyoung Lim · University of California, Berkeley · United States
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Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:da42851d0dc1bc0c, topic:robotics, topic:ros, topic:drone