grvc-ual
A repository for the GRVC UAV abstraction layer.
Installation and use
Download the latest stable version from here.
Start configuring which backends should be active:
$ cd ~/catkin_ws/src/grvc-ual
$ ./configure.py
You can find detailed instructions for installation and how to use the UAL in the Wiki.
Compatibile autopilots
PX4
- Via ual_backend_mavros and ual_backend_mavlink
- In simulation (SITL): version v1.10.*
- Flying: versions from v1.7.3 to v1.10.1
- Instructions to setup the SITL
Ardupilot (beta)
- Via ual_backend_mavros
- Last tested version v4.0.0
DJI A3/N3
- Via ual_backend_dji_ros
- ROS dji_sdk version TBD
- DJI Onboard SDK version TBD
Crazyflie
Unreal Engine - Airsim
- Via ual_backend_ue
Citation
If you find UAL useful in your research, please consider citing:
@article{real_ijars20,
author = {Fran Real and Arturo Torres-Gonz\'{a}lez and Pablo Ram\'{o}n Soria and Jes\'{u}s Capit\'{a}n and Anibal Ollero},
title = {Unmanned aerial vehicle abstraction layer: An abstraction layer to operate unmanned aerial vehicles},
journal = {International Journal of Advanced Robotic Systems},
year = {2020},
volume = {17},
number = {4},
pages = {1-13},
doi = {10.1177/1729881420925011},
url = {https://doi.org/10.1177/1729881420925011}
}