This repository include an example of using ROS and Gazebo to position control a quadrotor UAV, using C++. A simple PID controller (not the internal ROS controller) is used as the controller.

git clone https://github.com/fdcl-gwu/gazebo_uav_control.git
cd gazebo_uav_control
git submodule update --init
catkin_make
cd devel && source setup.bash && cd ../

roslaunch uav_gazebo simple_world.launch 

This code is organized as follows:

• src/uav_control: plugin for controlling the UAV
• src/uav_gazebo: Gazebo simulation related files

This uses uav_control/src/control_plugin.cpp file which uses the Gazebo model plugin as described here. Determining the current state and control input is done inside this file.

The states of the UAV can be checked with

rostopic echo /states

after launching Gazebo simulation.