This package contains several ROS nodes for trajectory generation and fast closed-loop control of UAVs.
trajectory_controller_node is SE(3) trajectory controller for multirotors based on the paper Geometric Tracking Control of a Quadrotor UAV on SE(3). The nonlinear tracking controller uses a rigid body dynamics model of multirotors and is developed on the special Euclidean group SE(3). The controller directly outputs rotor velocity commands.
The code is based on ETH ASL's RotorS simulator package.
Instructions for system identification TODO.
TODO