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lis-epfl / apg_trajectory_tracking

Training efficient drone controllers with Analytic Policy Gradient
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Experimentation details #8

Closed cmakelabs closed 3 months ago

cmakelabs commented 4 months ago

Thank you for your efforts and the impressive work, We are trying to write a ROS interface for the model, Is it possible to try the model in reality, what FCUs would be compatible?

vwueest commented 4 months ago

Hey @cmakelabs, yes it's certainly possible to try the model in reality since we are sending commands that contain thrust & desired angular rates (as mentioned here), which is a common input to FCUs. You can check the drone RPG uses for racing (see here for details and here). It would also work with a drone that has a PX4 autopilot with MavROS (see for example here). I'm sure that there are other FCUs that allow it too though. Best of luck