PX4+MAVROS with UWB+VIO relative MRS localization

Status

Description

Offboard controller for PX4 flight controllers with MAVROS. Uses UWB+VIO for localizartion in GNSS-denied environments.

Installation

Clone this repo to your catking_ws/src/

git clone https://github.com/TIERS/offboard-control.git

Install mavros

sudo apt install ros-melodic-mavros ros-melodic-mavros-extras

Install geographiclib

sudo apt install geographiclib-tools -y
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo bash ./install_geographiclib_datasets.sh

Build the package

catkin build

Main ROS nodes and functionalities

TO DO

Contact

Visit us at https://tiers.utu.fi