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

• Via ual_backend_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}
}