yumurtaci / sloth-core

State-machine with minimum snap trajectory generation and geometric tracking controller for mavros UAVs

sloth-core

This code can fly!

Methods and repositories

• Mavros
• PX4
• Geometric tracking controller
• Minimum snap trajectory generation
• State machine compatible with PX4 and Mavros
• Planner node to trigger trajectroy generation

Getting started

Create the workspace and initialize catkin

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
catkin config --merge-devel

Clone the repository

cd ~/catkin_ws/src
wstool init
git clone https://github.com/yumurtaci/sloth-core

Install the dependencies

cd ~/catkin_ws
wstool merge -t src src/sloth-core/dependencies.rosinstall
wstool update -t src -j4

Build the code with dependencies

cd ~/catkin_ws
catkin b

See wiki/build memory issue for c++: internal compiler error: Segmentation fault (program cc1plus)

Citation

In case you use this work as an academic context, please cite as the following.

@misc{yumurtaci_batuhan_sloth,
  author       = {Batuhan Yumurtaci},
  title        = {{Vision-Aided Learning Based Perching for a Bioinspired Metamorphic Multirotor}},
  howpublished = {\url{https://github.com/yumurtaci/sloth-core}},
  month        = oct,
  year         = 2022,
  }