Binary Search Tree (BST) of a Explicit MPC implementation in a Gazebo plugin with ROS interface. All the codes developed to generate the controller and the BST are available here.
The plugin create three topics:
/gazebo_client/iris_ref: receive new reference position
/gazebo_client/iris_state: publish the current possition and velocity from the quadrotor
/gazebo_client/vel_cmd: publish the velocity applied to the rotors
ROS Kinetic
Gazebo 7
Details about the model and controller are available in this paper.