RotorS—A Modular Gazebo MAV Simulator Framework

In this chapter we present a modular Micro Aerial Vehicle (MAV) simulation framework, which enables a quick start to perform research on MAVs. After reading this chapter, the reader will have a ready to use MAV simulator, including control and state estimation. The simulator was designed in a modular way, such that different controllers and state estimators can be used interchangeably, while incorporating new MAVs is reduced to a few steps. The provided controllers can be adapted to a custom vehicle by only changing a parameter file. Different controllers and state estimators can be compared with the provided evaluation framework. The simulation framework is a good starting point to tackle higher level tasks,…