\[\newcommand{\vect}[1]{\underline{#1}} % vector \newcommand{\mat}[1]{\mathbf{#1}} % matrices \newcommand{\est}[1]{\hat{#1}} % estimate \newcommand{\err}[1]{\tilde{#1}} % error \newcommand{\pd}[2]{\frac{\partial{#1}}{\partial{#2}}} % partial derivatives \newcommand{\transp}[1]{#1^{T}} % transpose \newcommand{\inv}[1]{#1^{-1}} % invert \newcommand{\norm}[1]{|{#1}|} % norm \newcommand{\esp}[1]{\mathbb{E}\left[{#1}\right]} % expectation \newcommand{\identity}[0]{\mathbb{I}} % identity\]

PAT ROS

PAT comes with some ROS aware tools.

Installing

install ROS and create a catkin workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make

create symlink to ros package directory in workspace
```
cd ~/catkin_ws/src
ln -s ~/pat/ros_pat .
```
build
```
cd ~/catkin_ws/
catkin_make
```

and of course source the workspace config

source ~/catkin_ws/src/devel/setup.bash

Run a real time simulation

Fixed Wing

poine@nina:~$ roslaunch ros_pat sim_glider.launch

Multirotor

poine@nina:~$ roslaunch ros_pat sim_multirotor.launch

View a trajectory

rosrun ros_pat display_trajectory.py _traj_name:=oval_with_intro

rosrun ros_pat display_track.py

./src/plot_trajectory.py --traj smooth_back_and_forth