mrtbrnz / pat

python aerospace toolbox

PAT

Python Aerospace Toolbox

A big name for what is now only a simple multirotor flight dynamic model

Documentation index

Installing

• clone sources:

cd
git clone https://github.com/poine/pat.git

Done... unless you need the ROS part (real time display in rviz), then

• install ROS and create a catkin workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make

• create symlink to ros package directory in workspace

cd ~/catkin_ws/src
ln -s ~/pat/ros_pat .

• build

cd ~/catkin_ws/
catkin_make

• and of course source the workspace config

source ~/catkin_ws/src/devel/setup.bash

Run a real time simulation

• run the simulation

 ~/pat/src/real_time_sim_guidance.py

• draw the vehicle

rviz -d ~/pat/ros_pat/rviz/multirotor.rviz

Run a batch simulation

./src/test_04_sim_guidance.py

View a trajectory