Voliro controller applied on tilting NDT2. This package contains a ROS motion controller to simulate with Gazebo. The models use the rotors_gazebo_plugins and px4_gazebo_standalone to set/get information from the robot. The NDT drone models is stored in the mav_description package.
The controller node receives as input the cartesian setpoints and computes a smooth trajectory in the cartesian space. The outputs are the rotors velocities directly sent to the simulated model in gazebo.
Beside the cartesian control also a image based visual servoing algorithm is implented. With a camera sensor simulated in gazebo an AprilTag marker is detected and a regulation in the image space is implemented to nullify the errors in terms of pixel coordinates.