Robot Operating System (ROS) in Quadcopter Flying Robot Using Telemetry System

(1) * Mohammad Iqbalul Faiq Hatta Mail (Universitas Ahmad Dahlan, Indonesia)
(2) Nuryono Satya Widodo Mail (Universitas Ahmad Dahlan, Indonesia)
*corresponding author


In this study implementing odometry using RVIZ on a quadcopter flying robot that uses the Pixhawk Cube firmware version 3.6.8 as the sub-controller. Then the Lenovo G400 laptop as the main-controller as well as the Ground Control Station using the ubuntu 16.04 Linux operating system. The ROS platform uses the Kinetic and MAVROS versions as a quadcopter platform package using MAVlink communication with the telemetry module. The odometry system was tested using Rviz as navigation for Quadcopter movements in carrying out movements that follow movement patterns in certain shapes and perform basic robot movements. Data were collected using a standard measuring instrument inclinometer as a measurement of the slope of the robot and visualization RVIZ as a visual display of the odometric robot. The results of the research obtained are that the flying robot can maneuver according to the shape on the RVIZ according to the movements carried out directly at the airport, as well as the effect of the roll angle on the quadcopter (negative left roll, positive right) and the pitch angle on the quadcopter (negative forward pitch, the pitch returns positive).


Flying Robot; Robot Operating Sysem (ROS); Quadcopter; Telemetry



Article metrics

10.31763/ijrcs.v1i1.247 Abstract views : 1839 | PDF views : 682




Full Text



[1] A. C. Subrata, “Automatic Landing And Waypoint System Berbasis Kombinasii GPS Dan Mesin Visi Untuk Multirotor Pada Kontes Robot Terbang Indonesia Divisi Vertical Take Off Landing,” Jurnal Ilmiah Teknik Elektro Komputer Dan Informatika, vol. 2, no. 2, pp. 110-122, 2017.

[2] A. Rahman, “Penerapan SLAM Gmapping dengan Robot Operating System Menggunakan Laser Scanner pada Turtlebot,” Jurnal Rekayasa Elektrika, vol. 16, no. 2, pp. 103–109, Aug. 2020.

[3] I. Iswanto, A. Ma’arif, O. Wahyunggoro, and A. Imam, “Artificial Potential Field Algorithm Implementation for Quadrotor Path Planning,” International Journal of Advanced Computer Science and Applications, vol. 10, no. 8, 2019.

[4] M. Kok, J. D. Hol and T. B. Schon, “Using Inertial Sensors for Position and Orientation Estimation,” Foundations and Trends in Signal Processing, vol. 11, no. 1-2, pp 1-153, 2017.

[5] M. E. Pittelkau, “Rotation Vector in Attitude Estimation,” Journal of Guidance, Control and Dynamics, vol. 26, no. 6, November-Desember 2003.

[6] J. Garcia, J. M. Molina, J. Trincado, “A Methodology for Design and Analysis of Sensor Fusion with Real Data in UAV platforms,” Preprints, 2018010077, 2018.

[7] G. Lachow, A. Khoury, J. Quach, E. Ho, I. Schroeder, J. Ren, “Autonomous Ouadcopter for Multiple Robot Tracking and Interaction in GPS-Denied Environments,” 2017 Symposium of Aerial Robotics Competition, pp. 1-12, 2017.

[8] A. Saphala and P. I. Tanaya, “Implementation and Reconfiguration of Robot Operating System on Human Follower Transporter Robot,” CommIT (Communication and Information Technology) Journal, vol. 9, no. 2, p. 59, Oct. 2015.

[9] J. M. O’Kane, A Gentle Introduction to ROS, Independently Published, Oktober 2013.

[10] L. K. Amifia, M. I. Riansyah, and P. D. Putra, “Design of Logistic Transporter Robot System,” Jurnal Ilmiah Teknik Elektro Komputer dan Informatika, vol. 6, no. 1, p. 19, Jul. 2020.

[11] S. Moon, J. J. Bird, S. Borenstein and E. W. Frew, "A Gazebo/ROS-based Communication-Realistic Simulator for Networked sUAS," 2020 International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, 2020, pp. 1819-1827.

[12] F. Balampanis, I. Maza, and A. Ollero, “Coastal Areas Division and Coverage with Multiple UAVs for Remote Sensing,” Sensors, vol. 17, no. 4, p. 808, Apr. 2017.


  • There are currently no refbacks.

Copyright (c) 2021 Mohammad Iqbalul Faiq Hatta, Nuryono Satya Widodo

Creative Commons License
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

Most View Paper 

1. Tuning of PID Controller Parameters with Genetic Algorithm Method on DC Motor

2. Understanding of Convolutional Neural Network (CNN): A Review

3. Performance Enhancement of a Hybrid Renewable Energy System Accompanied with Energy Storage Unit Using Effective Control System

4. Multi-objective Fractional Order PID Controller Optimization for Kid's Rehabilitation Exoskeleton

5. Adaptive Droop Control Strategy for Load Sharing in Hybrid Micro Grids 

About the JournalJournal PoliciesAuthor Information

International Journal of Robotics and Control Systems
e-ISSN: 2775-2658
Email: cc to
Published by: Association for Scientific Computing Electronics and Engineering (ASCEE)
Office: Jalan Janti, Karangjambe 130B, Banguntapan, Bantul, Daerah Istimewa Yogyakarta, Indonesia

View My Stats