pairs_utils

A metapackage that bundles the small helper utilities of the PAIRS UAV stack. Installing it pulls in a collection of support nodes for transform-tree plumbing, sensor/camera republishing, dynamic reconfiguration, and example/demo flights — none of which are core flight components, but all of which are handy when building and debugging a system. Each tool is a standalone package; this metapackage just groups them.

Contents

This branch (ROS 1 Noetic) aggregates:

• pairs_camera_republisher — republishes camera streams with frame-ID rewriting and throttling.
• pairs_circle_flier — flies the UAV in a circle (useful for tuning and demos).
• pairs_euler_counter_example — a worked counter-example illustrating Euler-angle pitfalls.
• pairs_multireconfigure — dynamically reconfigures parameters of several nodes at once.
• pairs_sensor_info — reports sensor status/metadata.
• pairs_tf_connector — joins two transform trees through their root frames, keeping selected frames coincident.
• pairs_tf_estimator — estimates a static transform between two frames from observed data.
• pairs_tf_mirror — mirrors a transform tree into another namespace.
• pairs_tf_reconfigure — interactively adjusts a transform at runtime.
• pairs_throw_activation — detects a hand-throw to arm/launch the UAV.

Branches

• ros1 — ROS 1 Noetic (catkin)
• ros2 — ROS 2 Jazzy (ament_cmake)

The set of bundled packages differs between branches.

Install (ROS 1 Noetic)

sudo apt install ros-noetic-pairs-utils

License

BSD 3-Clause. Derived from the CTU-MRS pairs_utils package; the original copyright is retained in LICENSE.