A PyQt6-Based Platform for Real-Time Control and Monitoring of a Quadrotor Multibody System Using ROS2 and Gazebo

Abstract

This paper presents a PyQt6 server-based application design for controlling a quadrotor multibody system in a simulated environment using the Gazebo 3D model and ROS2 on Linux. The combination of PyQt6 with ROS2 offers an intuitive graphical interface that simplifies access to control parameters and flight modes. The system incorporates a unique Gazebo plugin that connects to a proportional-derivative (PD) controller, providing stable quadrotor flight control. Notably, this plugin facilitates precise quadrotor movements and establishes reliable communication between the server and quadrotor, distinguishing it from other plugins. Moreover, simulation results demonstrate the effectiveness of the proposed PyQt6 server-based application in real-time quadrotor control. The results exemplify the system's capability to achieve stable and precise quadrotor movement by effectively controlling motion along the three axes (x, y, and z) along with yaw. However, the primary contribution of the system presented in this paper lies in the development of a robust PyQt6 server-based application designed to control a quadrotor multibody system. Furthermore, the system exhibits inherent potential for extension to encompass the control of a physical quadrotor, thereby substantiating its viability in real-world applications.