Unified single-board GNC-stack for UAVs. Check out the wiki for more details.
- Firmware
sudo apt install libi2c-devpip install --user inputs(optional)- sbus_serial (optional)
- nmea_navsat_driver (optional)
- Middleware
- ROS version Noetic or Melodic
- On Ubuntu >= 20 you'll need
sudo apt install python-is-python3
- Software
sudo apt install libeigen3-dev libyaml-cpp-devpip install --user numpy scipy matplotlib pyyaml
- Documentation
sudo apt install doxygen(optional)
- Simulator
- Stokesim (optional)
Once the dependencies have been successfully installed, clone Unitair into your initialized catkin-workspace src directory, run catkin build (or catkin_make if you prefer), and then source your devel/setup.bash script (which should also happen in your ~/.bashrc script). Note that on some processors you may have to set -DFAST_MATH=OFF for sufficient accuracy in some calculations. Once built, you can test numerics with rosrun unitair tests.sh CFG_PATH where CFG_PATH is the path to the parameter files you want to use (for example unitair/cfg/fixedwing/).
Using the example cfg named "multirotor":
roslaunch unitair simulation.launch cfg:=multirotor
rosservice call /mission/setpath "
speed: 3.0
timestep: 0.0
times: [0]
path: [{x: 0, y: 0, z: 1}, {x: 0, y: 4, z: 3}, {x: -4, y: 0, z: 3}, {x: 0, y: -5, z: 2}, {x: 4, y: 0, z: 3}, {x: 0, y: 0, z: 1}]
loop_index: -1"
Using the example cfg named "fixedwing":
roslaunch unitair simulation.launch cfg:=fixedwing
rosservice call /mission/setpath "
speed: 18.0
timestep: 0.0
times: [0]
path: [{x: 120.0, y: 0.0, z: 20.0}, {x: 120.0, y: 120.0, z: 20.0}, {x: 120.0, y: 0.0, z: 20.0}, {x: 0.0, y: 0.0, z: 20.0}]
loop_index: 0"
DISTRIBUTION STATEMENT A. Approved for public release. Distribution is unlimited. This material is based upon work supported by the Department of the Air Force under Air Force Contract No. FA8702-15-D-0001 or FA8702-25-D-B002. Any opinions, findings, conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the Department of the Air Force. © 2024 Massachusetts Institute of Technology.
Subject to FAR52.227-11 Patent Rights - Ownership by the contractor (May 2014) The software/firmware is provided to you on an As-Is basis Delivered to the U.S. Government with Unlimited Rights, as defined in DFARS Part 252.227-7013 or 7014 (Feb 2014). Notwithstanding any copyright notice, U.S. Government rights in this work are defined by DFARS 252.227-7013 or DFARS 252.227-7014 as detailed above. Use of this work other than as specifically authorized by the U.S. Government may violate any copyrights that exist in this work.