Overview
This stack provides packages related to modeling, control and simulation of quadrotor UAV systems. The following packages are available:
hector_quadrotor_description provides a generic quadrotor URDF model as well as variants with various sensors.
hector_quadrotor_model implements the dynamic models for the quadrotor's propulsion system and aerodynamics (drag).
hector_quadrotor_controller contains twist, pose and motor controllers for a quadrotor based on ros_control. hector_quadrotor_controller_gazebo implements the quadrotor hardware interface as plugin for gazebo_ros_control.
hector_quadrotor_gazebo contains the necessary launch files and dependency information for simulation of the quadrotor model in gazebo.
hector_quadrotor_teleop contains a node that permits control of the quadrotor using a gamepad.
hector_quadrotor_gazebo_plugins provides plugins that are specific to the simulation of quadrotor UAVs in gazebo simulation.
Details can also be found in this paper:
@INPROCEEDINGS{2012simpar_meyer,
author = {Johannes Meyer and Alexander Sendobry and Stefan Kohlbrecher and Uwe Klingauf and Oskar von Stryk},
title = {Comprehensive Simulation of Quadrotor UAVs using ROS and Gazebo},
year = {2012},
pages = {to appear},
booktitle = {3rd Int. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR)},
}
Tutorials
- Quadrotor outdoor flight demo
This tutorial describes how to simulate a quadrotor UAV flying in a outdoor scenario using the hector_quadrotor stack.
- Quadrotor indoor SLAM demo
This tutorial describes how to simulate a quadrotor UAV performing indoor SLAM using the hector_quadrotor stack.
Example Videos
These two videos demonstrate the use of the provided software for in- and outdoor simulation of a quadrotor UAV. They show both scenarios referenced in the Tutorials.
Indoor SLAM using the hector_slam stack:
Outdoor scenario demonstration:
Report a Bug
Use GitHub to report bugs or submit feature requests. [View active issues]