ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed to interface with ROSflight 2.0 and runs entirely on an onboard flight computer, leveraging the features of ROS 2 to improve modularity. This work describes the architecture of ROScopter and how it can be used to test application code in both simulated and hardware environments. Hardware results of the default ROScopter behavior are presented, showing that ROScopter achieves similar performance to another state-of-the-art autopilot for basic waypoint-following maneuvers, but with a significantly reduced and more modular code-base.

翻译：ROScopter是一款面向研究人员的轻量级多旋翼自动驾驶仪。ROScopter旨在通过易于理解且便于修改的架构，加速研究代码的仿真与硬件测试。该自动驾驶仪设计用于与ROSflight 2.0交互，完全在机载飞行计算机上运行，并利用ROS 2的特性提升模块化程度。本文阐述了ROScopter的架构及其在仿真与硬件环境中测试应用代码的方法。通过展示默认ROScopter行为的硬件测试结果，表明其在基础航点跟踪任务中达到了与另一先进自动驾驶仪相当的性能，同时代码库显著精简且更具模块化优势。