Package Details

x4_description

Contains the complete robot description model including:

• URDF/xacro files defining the robot’s physical structure

• Mesh files for visualization

• Physical properties (mass, inertia matrices)

• Sensor configurations

x4_gazebo

Responsible for simulation capabilities:

• Ignition Gazebo world files

• Simulation-specific launch files

• Plugin configurations

• Testing scenarios

x4_control

Implements control algorithms for:

• Takeoff sequence

• Stable hover

• Landing sequence

• (Stretch) Waypoint navigation

x4_bringup

Contains launch files to start the system:

• Simulation startup

• Hardware connection

• Configuration management

x4_interface

Handles communication with the physical drone:

• MAVLink protocol implementation

• Telemetry data processing

• Command conversion

• Safety monitoring

• Parameter management

• User interface

x4_service_scripts

Demo scripts for completing high-level actions: - Takeoff - Landing - Waypointing - Loiter

x4_vision

Vision implementation for X4 drone using Sony RX0 II: - Stream video from a USB UVC-compatible camera - Apply camera intrinsics from calibration - Detect ArUco tags - Estimate 3D pose of markers - Publish detections for precision landing

x4_moveit

High-level Moveit package for flight: