This code can fly!
- Mavros
- PX4
- Geometric tracking controller
- Minimum snap trajectory generation
- State machine compatible with PX4 and Mavros
- Planner node to trigger trajectroy generation
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)
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,
}