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通过易于理解且便于修改的架构设计，旨在加速研究代码的仿真与硬件测试。该系统专为与ROSflight 2.0对接而设计，完全在机载飞行计算机上运行，并充分利用ROS 2的特性以提升模块化程度。本文阐述了ROScopter的架构设计及其在仿真与硬件环境中测试应用代码的方法。通过展示默认配置下ROScopter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水平，同时显著缩减了代码规模并实现了更高的模块化程度。