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Any idea to implement a generic controller for a Quadcopter?

asked 2014-09-02 15:44:03 -0500

Andromeda gravatar image

updated 2014-09-03 03:25:15 -0500

I m trying right now to implement a quadcopter. I wrote the URDF file for defining the flying robot and it moves using odometry's informations pretty well in Rviz. But here the first problem.

I m using the move_base as a controller to move the quadcopter around but trying to put some goals in the free space (with a predefined height) it is going to move on a planar surface even if in the move_base one could set the robot as holonomic (free to move on all 6 DOF).

My idea was to define one more frame (/frame_footprint) or "the shadow" of the robot the moves always in the plane and let it controlling by move_base pkg which works pretty good (see the following image):

image description

With another transformation I would move the last frame (/frame_link) in respect of /base_footprint. Since it can rotate and move on the z axis it will take as input the height of the copter.

But now I have the first question: How can I control the height? Are there some controller in ROS for a 6DOF flying robot? Any suggestion for a controller?

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answered 2014-09-03 05:47:57 -0500

hector_quadrotor provides what you describe (controller, URDF model and more, like complete gazebo simulation including dynamics), so I´d recommend taking a look at that. As demonstrated in the indoor SLAM demo video, most capabilities required for indoor navigation as required by move_base are already available, so it should be relatively easy to create a move_base config. Unfortunately I´m not aware of an existing one.

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Vielen Dank Stefan! That's what i wanted!!

Andromeda gravatar image Andromeda  ( 2014-09-03 14:25:06 -0500 )edit

Hi, the code is really difficult to understand. There are some guidelines or documents that describe how you developed such a package? Regards

Andromeda gravatar image Andromeda  ( 2014-09-09 14:33:50 -0500 )edit

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Asked: 2014-09-02 15:44:03 -0500

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Last updated: Sep 03 '14