OpenKITE is a ROS package for simulation, estimation and control of rigid-wing airborne wind energy kites. Developed at the Automatic Control laboratory EPFL as part of the AWESCO project.
-- Dependencies:
- CasADi (v3.0.0-rc2) : https://github.com/casadi
- YAMLCPP (v0.5.3) : https://github.com/jbeder/yaml-cpp
- ROS (Jade, Kinetic, Lunar) : http://www.ros.org/
-- Build:
OpenKITE is based on the Catkin building system (http://wiki.ros.org/catkin). In order to build the package place it in your Catkin workspace and call:
cd your_catkin_ws
catkin_make
-- Content:
- kite_model : contains collection of kite models, integrators and flight simulator code;
- kite_control : contains implementation of a Nonlinear Model Predictive controller for orbit tracking, and kite identification tool;
- kite_estimation : contains imlpementation of the Extended Kalman filter for state estimation;
- scripts : collection of Matlab and Python scripts for log/data analysis and calibration;
- launch : ROS launch files to ease using the software;
- data : sample kite configuration file;
- arduino : transmit control commands over radio link (Spectrum receiver/transmitter) using ros-serial framework
- doc : user manual
-- Contact: [email protected]