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updated docs
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klaxalk committed Oct 12, 2023
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layout: default
title: Custom simulation world
parent: Gazebo
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title: MRS Drone Spawner
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title: Videos from Gazebo
parent: Gazebo
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# How to generate video from Gazebo
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title: How to simulate
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title: How to create a real world elevation map in Gazebo
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# How to create a real world elevation map in Gazebo
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# UAV-ROS interface

The UAV can be given commands via the following [managers](https://github.com/ctu-mrs/mrs_uav_managers) and the [state estimator](https://github.com/ctu-mrs/mrs_uav_odometry#mrs-uav-odometry-).
The UAV can be given commands via the following [managers](https://github.com/ctu-mrs/mrs_uav_managers).

## ControlManager

The [ControlManager](https://github.com/ctu-mrs/mrs_uav_managers#ControlManager) takes care of executing the [trackers](https://github.com/ctu-mrs/mrs_uav_trackers#mrs-uav-trackers-) and [controllers](https://github.com/ctu-mrs/mrs_uav_controllers#mrs-uav-controllers-) and it maintains one of each as an *active*.
The [ControlManager](https://github.com/ctu-mrs/mrs_uav_managers#ControlManager) takes care of executing the [trackers](https://github.com/ctu-mrs/mrs_uav_trackers#mrs-uav-trackers-) and [controllers](https://github.com/ctu-mrs/mrs_uav_controllers#mrs-uav-controllers-) and it maintains one of each as an *active* one.
The controllers handle a feedback loop for stabilization and control of the UAV.
The trackers are the reference generators for the controllers.
High-level navigation (or a user) does not interact with the controllers/trackers directly.
The *managers* provide most of the interface*.

### The flow of information

The ControManager is subscribed to a source of [UAV odometry](https://github.com/ctu-mrs/mrs_uav_odometry#mrs-uav-odometry-), and it hands it to the trackers and controllers.
With each update of the state estimate, the currently active tracker produces a new reference, and the currently active controller generates a new control command.
The controllers and trackers can be switched in mid-flight to accommodate for mission different scenarios.
Users supply the desired references to the ControlManager, which forwards them to the currently active tracker and controller.
The ControManager is subscribed to a source of [UAV State](https://ctu-mrs.github.io/mrs_msgs/msg/UavState.html), and it hands it to the trackers and controllers.
With each update of the UAV State, the currently active tracker produces a new reference, and the currently active controller generates a new control output.
The controllers and trackers can be switched in mid-flight to accommodate for different mission scenarios.
Users supply the desired references to the ControlManager, which forwards the references to the currently active tracker and controller.

### Provided topics

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