Cubs2

User Guide

  • Installation
    • Dependencies
    • ROS 2 Installation
    • Python Dependencies
    • System Libraries
    • Building Cubs2
    • Verifying Installation
  • Quick Start
    • Basic Simulation
    • Launch Options
    • Visualization Only
    • Replay Mode
    • Available Topics
    • Using the Joystick Panel
    • Adjusting Simulation Parameters
    • Next Steps
  • Simulation
    • Architecture
    • Physics Model
      • SportCub Dynamics
      • State Vector
      • Control Inputs
    • Integration
      • Numerical Methods
      • Timestep Selection
      • Real-Time vs Accelerated
    • Configuration
      • Aircraft Parameters
      • Initial Conditions
    • Visualization
      • RViz Topics
      • 3D Model
    • Troubleshooting
      • Simulation Unstable
      • Poor Performance
    • See Also
  • Control
    • Controller Architecture
      • Autolevel Controller
      • Usage Example
    • Tuning
      • PID Gains
      • Anti-Windup
    • Manual Control
      • Gamepad
      • Virtual Joystick
    • Control Topics
      • Published
      • Subscribed
    • Advanced Usage
      • Custom Controllers
      • Closed-Loop Analysis
    • See Also
  • Planning
    • Dubins Paths
      • What are Dubins Paths?
      • Path Types
      • Algorithm
    • Usage
      • Python API
      • ROS2 Node
    • Racecourse Navigation
      • Gate Sequencing
      • Visualization
    • Parameters
      • Turning Radius
      • Cruise Altitude
    • Path Following
      • Published Topics
      • Subscribed Topics
      • Control Integration
    • Advanced Usage
      • Custom Path Generation
      • Obstacle Avoidance
    • See Also
  • Visualization
    • RViz Panels
      • Video Panel
      • Joy Panel
      • Sim Panel
      • HUD Panel
    • 3D Visualization
      • Aircraft Model
      • Force Visualization
      • Path Display
      • Racecourse
    • Camera Control
      • Follow Mode
      • Fixed Views
      • Recording
    • Configuration
      • RViz Config
      • Topics to Display
    • Troubleshooting
      • Video Panel
      • Performance
    • See Also

Package Documentation

  • cubs2_msgs
    • Messages
      • AircraftControl.msg
    • Usage
    • Dependencies
  • cubs2_description
    • Files
      • URDF Model
      • 3D Meshes
    • Launch Files
      • robot_state_publisher.launch.py
    • Usage
      • In RViz
      • In Launch Files
    • Customization
      • Modify Visual Appearance
      • Adjust Inertial Properties
    • Dependencies
  • cubs2_dynamics
    • Features
    • Modules
      • Model Framework
      • Aircraft Models
      • Analysis Tools
    • Hierarchical Model Composition
    • Examples
      • Simulate Aircraft Dynamics
      • Compute Trim Condition
      • Linearization
    • Testing
    • Dependencies
    • No ROS Dependencies
    • API Reference
      • Dynamics API
  • cubs2_control
    • Features
    • Controllers
      • Autolevel Controller
      • Closed-Loop System
      • PID Controller
    • Testing
    • Dependencies
    • Design Philosophy
  • cubs2_simulation
    • Nodes
      • sim.py
      • pose_to_tf.py
      • gamepad_control.py
    • Usage
      • Launch Simulation
      • With Launch File
      • Gamepad Control
    • Configuration
      • Simulation Parameters
      • Gamepad Mapping
    • Testing
    • Dependencies
    • Architecture
  • cubs2_planning
    • Features
    • Nodes
      • planner_dubins.py
    • Dubins Path Planning
      • Path Types
    • Usage
      • Launch Planner
      • Custom Gate Sequence
      • Python API
    • Racecourse Integration
    • Visualization
    • Testing
    • Dependencies
    • Algorithm Details
  • cubs2_rviz
    • Plugins
      • Video Panel
      • Joy Panel
      • Sim Panel
      • HUD Panel
    • Usage
      • Load Panels in RViz
      • Pre-configured RViz Config
    • Development
      • Building
      • Plugin Architecture
      • Adding a New Panel
      • Qt Integration
    • Dependencies
    • Testing
  • cubs2_bringup
    • Launch Files
      • sim.xml
      • viz.xml
      • gamepad_control.xml
      • keyboard_control.xml
      • planning.xml
    • Complete Workflow
      • Standard Simulation
      • Manual Control
      • Replay Analysis
    • Configuration
      • RViz Layout
      • Racecourse Gates
    • Dependencies
    • Design Philosophy
  • cubs2_data
    • Configuration Files
      • sportcub.yaml
      • sim.yaml
      • control.yaml
    • Datasets
      • Flight Test Data
      • Replay
    • Usage
      • Loading Configuration
    • Customization
      • Adding Parameters
      • Creating Datasets

API Reference

  • Dynamics API
  • Control API
  • Planning API
  • Simulation API

Development

  • Contributing
    • Development Setup
      • Clone and Build
    • Code Style
      • Python
      • C++
      • Linting
    • Testing
      • Unit Tests
      • Coverage
      • Integration Tests
    • Pull Request Process
      • 1. Fork the Repository
      • 2. Create a Branch
      • 3. Make Changes
      • 4. Run Tests
      • 5. Submit Pull Request
    • Code Review
      • Checklist
      • Addressing Feedback
    • Documentation
      • Building Docs
      • Writing Docstrings
    • License
    • Questions?
  • Architecture
    • System Overview
    • Layer Responsibilities
      • Cyecca Layer
      • cubs2_dynamics
      • cubs2_control
      • cubs2_simulation
      • cubs2_planning
      • cubs2_rviz
      • cubs2_bringup
    • Data Flow
      • Simulation Loop
    • Message Types
      • Custom Messages
      • Standard Messages
    • Hierarchical Composition
      • ModelSX Framework
    • Plugin Architecture
      • RViz Panels
    • Design Principles
      • Separation of Concerns
      • Composition over Inheritance
      • Type Safety
      • Testing
    • Performance Considerations
      • Simulation Speed
      • Memory
    • Extensibility
      • Adding Aircraft
      • Adding Controller
      • Adding RViz Panel
    • See Also
  • Testing
    • Test Organization
      • Directory Structure
    • Running Tests
      • All Tests
      • Single Package
      • Specific Test File
      • With Coverage
    • Unit Tests
      • Dynamics Tests
      • Controller Tests
      • Planning Tests
    • Integration Tests
      • Closed-Loop Tests
      • Simulation Tests
    • Property-Based Testing
      • Using Hypothesis
    • Regression Tests
      • Baseline Comparisons
    • Continuous Integration
      • GitHub Actions
      • Coverage Requirements
    • Debugging Failed Tests
      • Verbose Output
      • With PDB
      • Logging
    • Performance Testing
      • Benchmarks
    • Best Practices
      • Test Structure
      • Fixtures
      • Parametrize
    • See Also
Cubs2
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