An example ros package using trep to simulate a very basic quadrotor model.
There are currently two demos available:
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single_quad_ball.launch: Requires a joystick and simulates a single quadrotor carrying a ball with roll/pitch angle inputs.
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dual_quads_lqr.launch: Can run with or without a joystick using launch arguement joy:=true or joy:=false. Sets a desired locaton of a ball suspended from two quadrotors and an lqr controller sets inputs to reach desired point.