YOPO

Controller/src/readme.md

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+# UAV Simulator
+
+### Build:
+```bash
+catkin_make
+```
+
+### MODE 1. PID Position Controller and Simulator
+Work with traditional planner
+```
+source devel/setup.bash
+roslaunch so3_quadrotor_simulator simulator_position_control.launch
+```
+
+### MODE 2. Attitude Controller with Disturbance Observer
+Work with our learning-based planner (without position controller)
+```
+source devel/setup.bash
+roslaunch so3_quadrotor_simulator simulator_attitude_control.launch
+```
+
+### Others
+pub disturbance
+```
+rostopic pub /force_disturbance
+```
+
+takeoff and land (used in realworld flight)
+```
+rosservice call /network_controller_node/takeoff_land
+```
+
+### acknowledgment
+
+This repo is modified from https://github.com/HKUST-Aerial-Robotics/Fast-Planner, thanks for their excellent work!