├── .gitignore ├── LICENSE ├── README.md ├── configure.py ├── px4_bringup ├── CMakeLists.txt ├── README.md ├── config │ ├── empty_light.world │ ├── px4_config.yaml │ └── px4_pluginlists.yaml ├── launch │ ├── spawn_robot.launch │ └── test_simulate.launch ├── package.xml └── scripts │ ├── .gitignore │ ├── launch_gzworld.py │ ├── run_mavros.py │ ├── run_px4sitl.py │ ├── spawn_gzmodel.py │ └── utils.py ├── robots_description ├── CMakeLists.txt ├── config │ └── visualize.rviz ├── launch │ └── visualize.launch ├── models │ ├── aeroarms │ │ ├── arm.transmission.xacro │ │ ├── config │ │ │ ├── arms_control.yaml │ │ │ └── arms_postures.yaml │ │ ├── geometry.xacro │ │ ├── meshes │ │ │ ├── collision │ │ │ │ ├── left │ │ │ │ │ ├── elbow.dae │ │ │ │ │ ├── forearm.dae │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ ├── upperarm.dae │ │ │ │ │ ├── wrist_pitch.dae │ │ │ │ │ └── wrist_yaw.dae │ │ │ │ └── right │ │ │ │ │ ├── elbow.dae │ │ │ │ │ ├── forearm.dae │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ ├── upperarm.dae │ │ │ │ │ ├── wrist_pitch.dae │ │ │ │ │ └── wrist_yaw.dae │ │ │ ├── multirotor.dae │ │ │ ├── prop_ccw.dae │ │ │ ├── prop_cw.dae │ │ │ └── visual │ │ │ │ ├── left │ │ │ │ ├── elbow.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist_pitch.dae │ │ │ │ └── wrist_yaw.dae │ │ │ │ └── right │ │ │ │ ├── elbow.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist_pitch.dae │ │ │ │ └── wrist_yaw.dae │ │ ├── model.gazebo │ │ ├── model.xacro │ │ └── px4cmd │ ├── aeroarms_pendulum │ │ ├── arm.transmission.xacro │ │ ├── config │ │ │ ├── arms_control.yaml │ │ │ └── arms_postures.yaml │ │ ├── geometry.xacro │ │ ├── meshes │ │ │ ├── collision │ │ │ │ ├── frame_pendulum_base.dae │ │ │ │ ├── left │ │ │ │ │ ├── forearm.dae │ │ │ │ │ ├── shoulder_roll.dae │ │ │ │ │ ├── shoulder_yaw.dae │ │ │ │ │ └── upperarm.dae │ │ │ │ ├── pendulum_shoulder.dae │ │ │ │ └── right │ │ │ │ │ ├── forearm.dae │ │ │ │ │ ├── shoulder_roll.dae │ │ │ │ │ ├── shoulder_yaw.dae │ │ │ │ │ └── upperarm.dae │ │ │ ├── multirotor.dae │ │ │ ├── prop_ccw.dae │ │ │ ├── prop_cw.dae │ │ │ └── visual │ │ │ │ ├── frame_pendulum_base.dae │ │ │ │ ├── left │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder_roll.dae │ │ │ │ ├── shoulder_yaw.dae │ │ │ │ └── upperarm.dae │ │ │ │ ├── pendulum_shoulder.dae │ │ │ │ └── right │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder_roll.dae │ │ │ │ ├── shoulder_yaw.dae │ │ │ │ └── upperarm.dae │ │ ├── model.gazebo │ │ ├── model.xacro │ │ └── px4cmd │ ├── iris │ │ ├── geometry.xacro │ │ ├── meshes │ │ │ ├── multirotor.dae │ │ │ ├── prop_ccw.dae │ │ │ └── prop_cw.dae │ │ ├── model.xacro │ │ └── px4cmd │ ├── mbzirc │ │ ├── geometry.xacro │ │ ├── meshes │ │ │ ├── multirotor.dae │ │ │ ├── prop_ccw.dae │ │ │ └── prop_cw.dae │ │ ├── model.xacro │ │ └── px4cmd │ ├── plane │ │ ├── meshes │ │ │ ├── body.dae │ │ │ ├── iris_prop_ccw.dae │ │ │ ├── iris_prop_cw.dae │ │ │ ├── propeller_ccw.dae │ │ │ └── propeller_cw.dae │ │ ├── model.config │ │ ├── model.sdf │ │ └── px4cmd │ └── typhoon_h480 │ │ ├── meshes │ │ ├── cgo3_camera_remeshed_v1.stl │ │ ├── cgo3_horizontal_arm_remeshed_v1.stl │ │ ├── cgo3_mount_remeshed_v1.stl │ │ ├── cgo3_vertical_arm_remeshed_v1.stl │ │ ├── leg1_remeshed_v3.stl │ │ ├── leg2_remeshed_v3.stl │ │ ├── main_body_remeshed_v3.stl │ │ ├── prop_ccw_assembly_remeshed_v3.stl │ │ ├── prop_cw_assembly_remeshed_v3.stl │ │ └── prop_guard_jybhz.stl │ │ ├── model.config │ │ ├── model.sdf │ │ ├── px4cmd │ │ └── px4cmd.post ├── package.xml └── urdf │ ├── component_snippets.xacro │ └── multirotor_base.xacro ├── ual_backend_crazyflie ├── CMakeLists.txt ├── include │ └── ual_backend_crazyflie │ │ └── ual_backend_crazyflie.h ├── package.xml └── src │ ├── server.cpp │ └── ual_backend_crazyflie.cpp ├── ual_backend_dji_ros ├── CMakeLists.txt ├── include │ └── ual_backend_dji_ros │ │ └── ual_backend_dji_ros.h ├── launch │ └── server.launch ├── package.xml └── src │ ├── server.cpp │ └── ual_backend_dji_ros.cpp ├── ual_backend_gazebo_light ├── CMakeLists.txt ├── include │ └── ual_backend_gazebo_light │ │ └── ual_backend_gazebo_light.h ├── launch │ └── simulation.launch ├── package.xml └── src │ ├── server.cpp │ └── ual_backend_gazebo_light.cpp ├── ual_backend_mavlink ├── CMakeLists.txt ├── include │ └── ual_backend_mavlink │ │ └── ual_backend_mavlink.h ├── launch │ ├── server.launch │ └── simulation.launch ├── package.xml └── src │ ├── server.cpp │ └── ual_backend_mavlink.cpp ├── ual_backend_mavros ├── CMakeLists.txt ├── config │ └── pid.yaml ├── include │ └── ual_backend_mavros │ │ └── ual_backend_mavros.h ├── launch │ ├── server.launch │ └── simulation.launch ├── package.xml └── src │ ├── server.cpp │ └── ual_backend_mavros.cpp ├── ual_backend_ue ├── CMakeLists.txt ├── include │ └── ual_backend_ue │ │ └── ual_backend_ue.h ├── launch │ └── test_ual_ue.launch ├── package.xml ├── scripts │ └── joy_control.py └── src │ └── ual_backend_ue.cpp ├── ual_teleop ├── .gitignore ├── CMakeLists.txt ├── config │ ├── joy_teleop.yaml │ ├── joysticks │ │ ├── 8bitdo_nes30_pro.yaml │ │ ├── ds4.yaml │ │ ├── saitek_p3200.yaml │ │ └── xbox360_clone.yaml │ └── simulate_safety_pilot.yaml ├── launch │ └── joy_teleop.launch ├── package.xml └── scripts │ ├── .gitignore │ ├── configure_joy.py │ ├── joy_handle.py │ ├── joy_teleop.py │ ├── key_teleop.py │ └── simulate_safety_pilot.py └── uav_abstraction_layer ├── .gitignore ├── CMakeLists.txt ├── Doxyfile.in ├── include └── uav_abstraction_layer │ ├── PID.h │ ├── backend.h │ ├── geographic_to_cartesian.h │ ├── posePID.h │ ├── ual.h │ └── ual_backend_dummy.h ├── msg └── State.msg ├── package.xml ├── scripts ├── save_waypoints.py ├── state_monitor.py └── track_waypoints.py ├── src ├── backend.cpp └── ual.cpp └── srv ├── Float32Param.srv ├── GoToWaypoint.srv ├── GoToWaypointGeo.srv ├── Land.srv ├── SetHome.srv └── TakeOff.srv /.gitignore: -------------------------------------------------------------------------------- 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