mavros_control

PX4 Firmware (https://github.com/PX4/Firmware) provides one of the most accurate quadrotor simulation platforms.

For the installation of PX4 firmware follow instructions provided by GAAS.

Getting started guides are available on: https://gaas.gitbook.io/guide/

Installation instructions for ROS melodic:

cd catkin_ws/src
git clone https://github.com/PX4/Firmware.git
cd Firmware
git checkout v1.9.0

cd ..
git clone --recursive https://github.com/PX4/sitl_gazebo.git
cd ..
catkin build

Install the python dependencied mentioned on:

1. https://github.com/PX4/sitl_gazebo
2. https://dev.px4.io/v1.9.0/en/ros/mavros_installation.html

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To use this repo:

cd catkin_ws/src
git clone https://github.com/hardesh/mavros_control.git 
cd ..
catkin build
source devel/setup.bash

After this you should be able to use the package.

dronecontroller.py is a generalised class for quadrotors. You can use this class to control your drone using MAVROS.

Example:

# Using the takeoff script
roslaunch px4 mavros_posix_sitl.launch
rosrun mavros_control takeoff.py