laas/morse — pull request #137 by flixr (2012-09-06 22:38:07+00:00)
Title: Dynamic quadrotor with attitude and waypoint actuators

* simple quadrotor model with rigid body physics
* attitude actuator with RC-like input (roll/pitch, yaw-rate, thrust) which applies forces and torques to the rigid body robot
* waypoint actuator which flies to a given position (and heading) also using a simple controller to apply forces/torques to the rigid body robot

possible caveats:
* haven't tested the ROS asctec_msgs ctrlInput message for the rotorcraft_attitude controller as I'm using our own message, but it *should* (tm) work and this message seems to be rather widely used (ROS asctec_drivers stack)
* both actuators need to be actually run at the full frequency of the simulation (so not possible to set a lower frequency for these actuators via actuator.frequency(x)
* otherwise some physics steps will be exectued with zero force/torque input and the controllers act in very unexpected ways