QuadSoftware: Difference between revisions

From ISRWiki
Jump to navigation Jump to search
No edit summary
No edit summary
Line 17: Line 17:


=== Packages ===
=== Packages ===
* quad_drivers -- contains the main drivers
* quad_drivers -- contains the main drivers (to run on Pandaboard)
* quad_launch -- contains some launch files to record the flights
* quad_launch -- contains some launch files to record the flights



Revision as of 16:45, 1 October 2013

Quadrotor Platform

About

This page presents instructions and software for ISR Quadrotors. This vehicle includes a Pandaboard Computer that is not recommended to do heavy computing, and so it is only appropriate to run the ROS drivers for the hardware (motors and sensors). So the suggested architecture is to use an external laptop for the main software, connecting via Wi-Fi to the quadrotor. The driver nodes can be remotely launched using roslaunch.

Software

Prerequisites

ROS Fuerte with the following packages:

  • laser_drivers
  • mav_tools
  • scan_tools
  • hector_common

Usage

Packages

  • quad_drivers -- contains the main drivers (to run on Pandaboard)
  • quad_launch -- contains some launch files to record the flights

Nodes

  • imu_parser -- Reads data from IMU.
  • quad_can_driver -- Sends commands to motors.
  • quad_esc -- Reads velocities from motors.
  • quad_link -- Establish connection between vehicle and laptop.
  • quad_status -- Reads some important data from vehicle.

Subscribed topics

  • Under Construction

Published topics

  • Under Construction