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What is grvc ual for?

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arturotorresg edited this page Apr 24, 2020 · 7 revisions

UAL stands for UAV Abstraction Layer. grvc-ual provides a set of tools to simplify the use of different autopilots without the need of knowing the specifics of each one. All these tools are to be used with ROS.

UAL defines a common interface for every supported autopilot. For each supported autopilot (or protocol) there is a backend which implements the specific communications and configurations.

grvc-ual repository has 10 ROS packages:

  • px4_bringup - Scripts and configurations to easily run connections with PX4 autopilots through mavros and simulations with multiple UAVs.

  • robots_description - Gazebo models and PX4 config files for simulation with SITL (Software In The Loop).

  • ual_teleop - Scripts for controlling the UAL with a gamepad or the keyboard.

  • uav_abstraction_layer - The actual UAL. It contains the code that communicates with the autopilots.

  • ual_backend_mavros - Backend for MAVROS (MAVLink through ROS) compatible autopilots.

  • ual_backend_mavlink - Backend for MAVSDK, direct MAVLink connection without ROS.

  • ual_backend_gazebo_light - Backend for simulation only, with a very simplified dynamic model.

  • ual_backend_dji_ros - Backend for the DJI ROS SDK.

  • ual_backend_crazyflie - Backend for the Crazyflie autopilot.

  • ual_backend_ue - Backend for simulations using Unreal Engine with Airsim plugin.

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