NOTE This software is currently at a very early pre-release stage. USE AT YOUR OWN RISK. If you plan to use them we strongly recommend that you join the mailing list.

The Stanford/Berkeley Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC) is a multi vehicle testbed used to demonstrate new concepts in multi-agent control on a real-world platform. For more information: http://hybrid.eecs.berkeley.edu/starmac

Overview

starmac-ros-pkg hosts ROS stacks used for flying quadrotors. This software aims to provide much of the common functionality required for experimentation on small quadrotor UAV platforms. At present one vehicle, the Ascending Technologies Pelican, is supported. However the design aims to be vehicle-agnostic and easily adapted to another vehicle with similar capabilities (such as our lab's own STARMAC II design).

You can browse the code and bug reports from the bitbucket project page.

Robots

See starmac-ros-pkg/SupportedRobots.

Documentation

Version History

See starmac-ros-pkg/ChangeList

Getting Started

See starmac-ros-pkg/Tutorials/Installation.

General Information

• Joystick axes and buttons

• Coordinate systems

ROS API

Please see starmac_flyer/ROS API Overview.

Applications

• Quadrotor Altitude Control and Obstacle Avoidance

• Learning Based Model Predictive Control (LBMPC) on a Quadrotor

Roadmap

See starmac-ros-pkg/Roadmap.

Mailing List

• https://lists.eecs.berkeley.edu/sympa/info/starmac-ros-pkg-users

  • To subscribe, click the above link and look for 'Subscribe' button on the left.
  • The default (and the default apparently can't be changed) receiving mode is 'summary' which means you'll only get a single message per day. If you'd rather get messages as they are sent then click the above link, go to 'Subscriber Options' and change the receiving mode there.
  • You can browse the archives anonymously with either the above link or the below Nabble link.

• Nabble Archive: http://starmac-ros-pkg-users.985556.n3.nabble.com/

Bug Reports

Users are encouraged to submit bug reports and requests for feature enhancements (patches welcome!) here: https://bitbucket.org/bouffard/starmac-ros-pkg/issues

Users

Do you use starmac-ros-pkg? Feel free to add a link to your project webpage here:

Repository Contents (autogenerated content follows):

starmac-ros-pkg

• Version Control: hg https://bitbucket.org/bouffard/starmac-ros-pkg
• Stacks
  • starmac_common
  • starmac_demos
  • starmac_flyer
  • starmac_ground
  • starmac_robots
  • starmac_sensors
  • starmac_testing
  • starmac_vicon
• Packages
  • flyer_common
  • flyer_controller
  • flyer_est
  • simulated_quadrotor
  • starmac_controller_testing
  • starmac_gui
  • starmac_kinect
  • starmac_kinect_obstacle_avoidance
  • starmac_msgs
  • starmac_robots_asctec
  • starmac_roshlib
  • starmac_roslib
  • starmac_templates
  • starmac_tools
  • starmac_tui
  • starmac_vicon_testing
  • starmac_viz
  • vicon_mocap

starmac_common

starmac_common contains general-purpose libraries, scripts, etc. These should be general in the sense that they might be found in ros-pkg (and in some cases maybe we'll propose including them there).

• Author: Maintained by Patrick Bouffard
• License: BSD
• Packages: starmac_msgs, starmac_roshlib, starmac_roslib, starmac_templates, starmac_tools

starmac_demos

Various demonstrations/experimental setups

• Author: Maintained by Patrick Bouffard
• License: BSD
• Packages: starmac_kinect_obstacle_avoidance

starmac_flyer

Operation of an autonomous quadrotor vehicle: manual and autonomous control, interfaces to hardware, etc. Packages in this stack should be intended primarily for on-board use. Packages that will not be used on board (e.g. ground stations, post processing, etc.) should go in the starmac_ground stack instead.

• Author: Maintained by Patrick Bouffard
• License: BSD
• Packages: flyer_common, flyer_controller, flyer_est

starmac_ground

starmac_ground

• Author: Maintained by bouffard
• License: BSD
• Packages: starmac_gui, starmac_tui, starmac_viz

starmac_robots

• Author: Maintained by Patrick Bouffard
• License: BSD
• Packages: simulated_quadrotor, starmac_robots_asctec

starmac_sensors

• Author: Maintained by Patrick Bouffard
• License: BSD
• Packages: starmac_kinect

starmac_testing

Stack for testing launch files, etc. May have onerous dependencies but that's okay, the idea is to have the tests and their dependencies here rather than putting tests in individual stacks and potentially adding extraneous dependencies to those stacks just so their tests will work. E.g. when testing vicon, might also want to run estimator, but in general vicon_mocap shouldn't depend on flyer_est.

• Author: Maintained by Patrick Bouffard
• License: BSD
• Packages: starmac_controller_testing, starmac_vicon_testing

starmac_vicon

Drivers for using the Vicon motion capture system for indoor tracking of a vehicle

• Author: Maintained by Patrick Bouffard
• License: BSD
• Packages: vicon_mocap