Robot Operating System Cookbook

Overview of MAV system design

The research and development of algorithms on MAVs needs access to expensive hardware, and field experiments usually consume a considerable amount of time, as well as requiring a trained pilot for execution. However, most of the errors, occurring on real platforms, are tough to reproduce, which usually results in damaging the vehicle. Hence, the RotorS simulator framework has been developed to reduce field experiment times, which makes debugging easier and finally reduces the crashes of real MAVs. Moreover, this is also useful for student projects, where access to an expensive real platform may not be permitted.

To perform high-level experiments such as collision avoidance and path planning, including SLAM for ...