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Control strategies for rotary wing Micro Aerial Vehicles using ROS
| Date | Stars |
|---|---|
| 2026-07-24 | 451 |
| 2026-07-25 | 451 |
| 2026-07-28 | 451 |
| 2026-07-30 | 451 |
| 2026-08-06 | 451 |
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mav_control_rw [](https://travis-ci.org/ethz-asl/mav_control_rw)
======
Control strategies for rotary wing Micro Aerial Vehicles (MAVs) using ROS
Overview
------
This repository contains controllers for rotary wing MAVs. Currently we support the following controllers:
- *mav_linear_mpc* : Linear MPC for MAV trajectory tracking
- *mav_nonlinear_mpc* : Nonlinear MPC for MAV trajectory tracking
- *PID_attitude_control* : low level PID attitude controller
Moreover, an external disturbance observer based on Kalman Filter is implemented to achieve offset-free tracking.
If you use any of these controllers within your research, please cite one of the following references
```bibtex
@incollection{kamelmpc2016,
author = "Mina Kamel and Thomas Stastny and Kostas Alexis and Roland Siegwart",
title = "Model Predictive Control for Trajectory Tracking of Unmanned Aerial Vehicles Using Robot Operating System",
editor = "Anis Koubaa",
booktitle = "Robot Operating System (ROS) The Complete Reference, Volume 2",
publisher = "Springer",
year = “2017”,
}
```
```bibtex
@ARTICLE{2016arXiv161109240K,
author = {{Kamel}, M. and {Burri}, M. and {Siegwart}, R.},
title = "{Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles}",
journal = {ArXiv e-prints},
archivePrefix = "arXiv",
eprint = {1611.09240},
primaryClass = "cs.RO",
keywords = {Computer Science - Robotics},
year = 2016,
month = nov
}
```
Installation instructions
------
To run the controller with RotorS simulator (https://github.com/ethz-asl/rotors_simulator), follow these instructions:
* Install and initialize ROS indigo desktop full, additional ROS packages, catkin-tools:
```sh
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
$ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get install ros-indigo-desktop-full ros-indigo-joy ros-indigo-octomap-ros python-wstool python-catkin-tools
$ sudo rosdep init
$ rosdep update
$ source /opt/ros/indigo/setup.bash
```
* Initialize catkin workspace:
```sh
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws
$ catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
$ catkin init # initialize your catkin workspace
```
* Get the controllers and dependencies
```sh
$ sudo apt-get install liblapacke-dev
$ git clone https://github.com/catkin/catkin_simple.git
$ git clone https://github.com/ethz-asl/rotors_simulator.git
$ git clone https://github.com/ethz-asl/mav_comm.git
$ git clone https://github.com/ethz-asl/eigen_catkin.git
$ git clone https://github.com/ethz-asl/mav_control_rw.git
```
* Build the workspace
```sh
$ catkin build
```
* Run the simulator and the linear MPC. In seperate terminals run the following commands
```sh
$ roslaunch rotors_gazebo mav.launch mav_name:=firefly
```
```sh
$ roslaunch mav_linear_mpc mav_linear_mpc_sim.launch mav_name:=firefly
```
You can use `rqt` to publish commands to the controller.
To run the controller with the multi sensor fusion (MSF) framewok (https://github.com/ethz-asl/ethzasl_msf):
* Get msf
```sh
$ git clone https://github.com/ethz-asl/ethzasl_msf.git
```
* Run the simulator, the linear MPC and MSF, in seperate terminals run the following commands
```sh
$ roslaunch rotors_gazebo mav.launch mav_name:=firefly
```
```sh
$ roslaunch mav_linear_mpc mav_linear_mpc_sim_msf.launch mav_name:=firefly
```
Don't forget to initialize MSF.
Supported autopilots
------
### Asctec Research Platforms
This control will work as is with the ros interface to the now discontinued Asctec research platforms (Hummingbird, Pelican, FirExcerpt of 11,460 characters
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