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這是天雷系統的專案
===
專案核心環境
1. ROS2 Humble
2. Python
3. Ardupilot
必要相依套件
建議的開發測試
1. Gazebo Garden
Package 簡述
簡述0328
主要是透過test_transform這隻程式執行fdm_switch_example_one_with_remote_forwarding這個副函式,透過UDP將封包轉接到Matlab,並在Matlab進行演算法迭代後,打包JSON檔,並再次透過port口傳回封包,傳回來的封包會在close_loop這隻程式被解析,並提取其中有關velocity的資料儲存成變數,以mavlink的方式打入Ardupilot,以實現封閉迴路的構思。