As PX4 doesn’t support aggressive trajectory tracking capabilities just yet, a trajectory tracking controller is needed to run aggressive flights. MAVROS enables you to control a drone offboard, supporting low level commands such as actuator control / bodyrate control. This gives you the safety of having a fail-safe flight controller and the flexibility of having a simulation supported ROS based controller.
For the source code, visit: https://github.com/Jaeyoung-Lim/mavros_controllers
2 thoughts on “Aggressive trajectory tracking controller for MAVROS using geometric control in SE(3)”
Did you have try in real PX4 ?