Robot Operating System Cookbook

Introduction

In this chapter, we will learn about a modular micro aerial vehicle (MAV) simulator framework, which enables us to quick start performing research and development on MAVs. After completing this chapter, we will have a ready-to-use MAV simulator, including control and state estimation. The simulator will be designed in a modular way, where different controllers and state estimators can be implied interchangeably to incorporate any new MAVs in a few steps by only changing a parameter file. Moreover, we will also compare different controllers and state estimators with the provided evaluation framework.

The simulator framework is a good starting point for handling higher-level tasks such as collision avoidance and path planning with  ...