Cubs2 Documentation
Cubs2 is a comprehensive ROS 2 framework for fixed-wing aircraft simulation, control, and autonomous flight.
Key Features
Physics-Based Simulation: CasADi-powered differentiable dynamics
Hierarchical Composition: Type-safe model composition with single integration loop
Path Planning: Dubins path generation for racecourse navigation
Custom RViz Panels: Interactive joystick, HUD, and simulation controls
Real-Time Control: Production-ready controllers for simulation and hardware
Replay Support: Compare simulation against recorded flight data
Quick Start
# Build workspace
colcon build --symlink-install
source install/setup.bash
# Launch simulation with visualization
ros2 launch cubs2_bringup sim.xml
# Or just visualization (in separate terminal)
ros2 launch cubs2_bringup viz.xml
User Guide
Package Documentation
API Reference
Development