ethz_asl_UAV_autonomous

苏黎世理工开源的整套自主无人机系统

ROVIO 是一个紧耦合，基于图像块滤波实现的VIO,

• 优点： 计算量小，
• 缺点： 对应不同设备需要调整参数，参数对精度很重要，没有闭环，没有mapping thread

dependents

ROVIO

• kindr (https://github.com/ethz-asl/kindr) Kinematics and Dynamics for Robotics

• lightweight_filtering 自己写的EKF框架

voxblox && mav_voxblox_planning

(多传感器融合)[https://github.com/ethz-asl/ethzasl_msf]

MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)

（mav_control_rw 微型多旋翼的控制策略)[https://github.com/ethz-asl/mav_control_rw]

文章：Model Predictive Control for Trajectory Tracking of Unmanned Aerial Vehicles Using Robot Operating System Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles

• 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

gazebo Local Planning的实验

gazebo_ros (仿真交互)

发布话题

• /firefly/vi_sensor/camera_depth/depth/points (pointClould2类型)
• /firefly/ground_truth/odometry (gazebo虚拟的定位信息)
• /firefly/gazebo/command/motor_speed
• /firefly/joint_states

订阅话题

• /firefly/gazebo/command/motor_speed
• /firefly/command/motor_speed (PID_attitude_controller 节点发布的)

voxblox_node (稠密建图)

订阅话题

• /firefly/vi_sensor/camera_depth/depth/points(gazebo虚拟相机发布的)
• /tf (为了得到当前飞机的位姿)

发布话题

• /firefly/esdf_map (voxblox_msgs/Layer type)
• /firefly/tsdf_map (voxblox_msgs/Layer type)
• /firefly/voxblox_node/mesh (voxblox_msgs/Mesh)

mav_local_planner (局部路径规划)

订阅话题

• /firefly/ground_truth/odometry （gazebo发布的）
• /firefly/waypoint (rviz自定义 插件发布的)
• /firefly/esdf_map (voxblox_msgs/Layer type)
• /firefly/tsdf_map (voxblox_msgs/Layer type)

发布话题

• /firefly/command/trajectory (trajectory_msgs/MultiDOFJointTrajectory type)
• /firefly/mav_local_planner/local_path (visualization_msgs/MarkerArray 用于RVIZ可视化)

mav_nonlinear_mpc (mpc 航点命令发布控制器)

订阅话题

• /firefly/ground_truth/odometry
• /firefly/command/trajectory
• /firefly/command/pose (rviz自定义 插件发布的)

发布话题

• /firefly/command/roll_pitch_yawrate_thrust (mav_msgs/RollPitchYawrateThrust type)

mav_pid_attitude_controller_node (mav_lowlevel_attitude_controller 模拟飞控PID驱动电机)

订阅话题

• /firefly/command/roll_pitch_yawrate_thrust

发布话题

• /firefly/command/motor_speed (与仿真环境中的电机交互)