solo sim parameters updated

This commit is contained in:
Marius Klimavicius 2018-06-27 16:52:58 -04:00
parent d5f5852c12
commit 392531e131
4 changed files with 6 additions and 16 deletions

View File

@ -127,7 +127,8 @@ function pursuit() {
if(neighbors.count() > 0)
r_vec = math.vec2.scale(r_vec, 1.0 / neighbors.count())
r = math.vec2.length(r_vec)
gamma = vd / math.sqrt((r-rd)*(r-rd)+pc*pc*r*r)
sqr = (r-rd)*(r-rd)+pc*pc*r*r
gamma = vd / math.sqrt(sqr)
dr = -gamma * (r-rd)
dT = gamma * pc
vfg = math.vec2.newp(r+dr*0.1, math.vec2.angle(r_vec)+dT*0.1)

View File

@ -6,17 +6,7 @@ topics:
setpoint: mavros/setpoint_position/local
armclient: mavros/cmd/arming
modeclient: mavros/set_mode
localpos: /mavros/local_position/pose
stream: mavros/set_stream_rate
localpos: mavros/local_position/pose
stream: mavros/set_stream_rate
altitude: mavros/global_position/rel_alt
type:
gps : sensor_msgs/NavSatFix
# for SITL Solo
# battery : mavros_msgs/BatteryState
# for solo
battery : mavros_msgs/BatteryStatus
status : mavros_msgs/State
altitude: std_msgs/Float64
environment :
environment : solo-simulator

View File

@ -3,7 +3,7 @@
<!-- This file is included in all ROS workspace launch files -->
<!-- Modify with great care! -->
<launch>
<arg name="name" default="robot0"/>
<arg name="name" default="robot0"/>
<arg name="xbee_plugged" default="true"/>
<arg name="script" default="testalone"/>
<arg name="launch_config" default="topics"/>

View File

@ -1001,8 +1001,7 @@ void roscontroller::SetStreamRate(int id, int rate, int on_off)
ROS_INFO("Set stream rate call failed!, trying again...");
ros::Duration(0.1).sleep();
}
// DEBUG
// ROS_INFO("Set stream rate call successful");
ROS_WARN("Set stream rate call successful");
}
void roscontroller::payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg)