This page describes the different quadrotor robot platforms supported by starmac-ros-pkg.

At present, only the Ascending Technologies Pelican is directly supported.

Currently Supported Platforms

Ascending Technologies

The Pelican from AscTec is supported through the use of the asctec_adapter node (see starmac_robots_asctec).

Vehicle Specifics

Here are the things that need to be specified for each individual vehicle:

• Launch files: add a <machine> tag to starmac_flyer/flyer_common/launch/machines/pelicans.xml

• TF frames: Add the necessary transforms in starmac_flyer/flyer_common/nodes/static_transforms.py

• Nominal and maximum thrust. ( Very important - be sure to modify these parameters before flying a new configuration, especially if the new configuration is lighter than the previous one): Modify the nominal_thrust and max_thrust parameters of asctec_adapter. Some rough numbers from empirical testing:

  • Pelican with Atom, 'propeller protection (large)', Kinect, no GPS, 8000 mAh battery. Mass approx. 1750 g. nominal_thrust: 2200, max_thrust: 2500

  • Pelican with Atom, 'propeller protection (small)', no GPS, 8000 mAh battery. Mass approx. 1270 g. nominal_thrust: 1600, max_thrust: 1800

Variations

The AscTec support has been developed and tested with the optional onboard Intel Atom computer communicating with the AutoPilot via a wired serial connection. However in principle it should be possible to use the code on an offboard PC in communication with the AutoPilot via a wireless serial link, i.e. XBee. This should only require changes in the launch files.

Generic Simulated Quadrotor

See flyer_sim. (TODO: Add more description here)

Possible Future Platform Support

This section lists some platforms that could be supported in the future, and a brief description of what would need to be done to enable that support.

STARMAC II

TODO.

PIXHAWK Cheetah

TODO. (Cheetah link)

Parrot AR.Drone

TODO. (Driver: https://github.com/siue-cs/siue-ros-pkg/tree/experimental-ardrone)