diff --git a/README.md b/README.md index 1ca2a05..0950b91 100644 --- a/README.md +++ b/README.md @@ -97,11 +97,11 @@ Initilize rosdep: source ~/catkin_ws/devel/setup.bash #####Troubleshooting: https://github.com/Jaeyoung-Lim/mavros_controllers ### TOOLS/SITL_GAZEBO - copy (or add) files in 'oscillation_ctrl/models' and 'oscillation_ctrl/worlds' to 'PX4-Autopilot/Tools/sitl_gazebo/models' and 'PX4-Autopilot/Tools/sitl_gazebo/worlds' respectively + copy (or add) files in _oscillation_ctrl/models_ and _oscillation_ctrl/worlds_ to _PX4-Autopilot/Tools/sitl_gazebo/models_ and _PX4-Autopilot/Tools/sitl_gazebo/worlds_ respectively ### ROMFS/PX4FMU_COMMON - copy (or add) files in 'oscillation_ctrl/airframes' to 'PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes' - add file name to 'CmakeLists.txt' in same 'airframe' folder (with number) - add airframe name in '~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake' (no number!) + copy (or add) files in _oscillation_ctrl/airframes_ to _PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes_ + add file name to _CmakeLists.txt_ in same 'airframe' folder (with number) + add airframe name in _~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake_ (no number!) ### LAUNCH FILES copy (or add) files from px4_launch directory to '~/PX4-Autopilot/launch' ### MAVROS @@ -128,7 +128,7 @@ In catkin_ws (or any working directory) add to devel/setup.bash: ## JINJA TETHER FILE - spiri_with_tether.sdf.jinja can be altered to create desired tether model -- changes nede to be made in px4 directory and will only take effect and +- changes need to be made in px4 directory and will only take effect and "make px4_sitl gazebo" - can do DONT_RUN=1 make px4_sitl gazebo to avoid starting px4 shell and gazebo - First two elements can be changed to tweak tether parameters @@ -137,13 +137,13 @@ In catkin_ws (or any working directory) add to devel/setup.bash: ## ROS NODES -- LinkState.py determines payload load angles and their rates (theta and phi), as well as determines tether length and keeps track of variables needed in case of step test. +- __LinkState.py__ determines payload load angles and their rates (theta and phi), as well as determines tether length and keeps track of variables needed in case of step test. ### Publishes to: /status/twoBody_status # localization and angles /status/path_follow # boolean to run trajectory test ### Subscribes to: none -- ref_signalGen.py takes in desired position (xd) and determines smooth path trajectory. +- __ref_signalGen.py__ takes in desired position (xd) and determines smooth path trajectory. ### Publishes to: /reference/path # smooth path /reference/flatsetpoint # needed to determine thrust @@ -153,7 +153,7 @@ In catkin_ws (or any working directory) add to devel/setup.bash: /mavros/imu/data /mavros/state /reference/waypoints -- klausen_control.py determines forces on drone needed based on smooth path and feedback to dampen oscillations. From the forces needed, it publishes attitude commands. +- __klausen_control.py__ determines forces on drone needed based on smooth path and feedback to dampen oscillations. From the forces needed, it publishes attitude commands. ### Publishes to: /command/quaternions # attitude commands /reference/flatsetpoint # needed to determine thrust @@ -162,8 +162,8 @@ In catkin_ws (or any working directory) add to devel/setup.bash: /reference/path /mavros/imu/data /mavros/local_position/velocity_body -- node from __mavros_controllers/geometric_controller__ subscribes to _/reference/flatsetpoint_ to determine thrust commands which are published to _command/bodyrate_command_ by default -- path_follow.cpp sets the vehicle in OFFBOARD mode (PX4) and takes off to a set height for 25 seconds before starting to publish attitude and thrust commands. +- node from _mavros_controllers/geometric_controller_ subscribes to _/reference/flatsetpoint_ to determine thrust commands which are published to _command/bodyrate_command_ by default +- __path_follow.cpp__ sets the vehicle in OFFBOARD mode (PX4) and takes off to a set height for 25 seconds before starting to publish attitude and thrust commands. ### Publishes to: mavros/setpoint_position/local # needed to hover @ set height mavros/setpoint_raw/attitude # attitude and thrust commands diff --git a/models/citadel_hill/materials/textures/citadel_asphalt.png b/models/citadel_hill/materials/textures/citadel_asphalt.png new file mode 100644 index 0000000..89163d5 Binary files /dev/null and b/models/citadel_hill/materials/textures/citadel_asphalt.png differ diff --git a/models/citadel_hill/materials/textures/citadel_blocks-wall.png b/models/citadel_hill/materials/textures/citadel_blocks-wall.png new file mode 100644 index 0000000..f26b79a Binary files /dev/null and b/models/citadel_hill/materials/textures/citadel_blocks-wall.png differ diff --git a/models/citadel_hill/materials/textures/citadel_cavblocks.png b/models/citadel_hill/materials/textures/citadel_cavblocks.png new file mode 100644 index 0000000..4e882e3 Binary files /dev/null and b/models/citadel_hill/materials/textures/citadel_cavblocks.png differ diff 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a/models/citadel_hill/meshes/citadel_rooftilesred.png b/models/citadel_hill/meshes/citadel_rooftilesred.png new file mode 100644 index 0000000..946f73d Binary files /dev/null and b/models/citadel_hill/meshes/citadel_rooftilesred.png differ diff --git a/models/citadel_hill/meshes/citadel_simpleconc.png b/models/citadel_hill/meshes/citadel_simpleconc.png new file mode 100644 index 0000000..2b656d7 Binary files /dev/null and b/models/citadel_hill/meshes/citadel_simpleconc.png differ diff --git a/models/citadel_hill/meshes/citaldel_whitewood.png b/models/citadel_hill/meshes/citaldel_whitewood.png new file mode 100644 index 0000000..26d3b08 Binary files /dev/null and b/models/citadel_hill/meshes/citaldel_whitewood.png differ diff --git a/models/citadel_hill/model.config b/models/citadel_hill/model.config new file mode 100644 index 0000000..1744b99 --- /dev/null +++ b/models/citadel_hill/model.config @@ -0,0 +1,15 @@ + + + Citadel Hills + 1.0 + model.sdf + + + Riddhi + riddhi.dave@pleiadesrobotics.com + + + + Model for Citadel Hill + + diff --git a/models/citadel_hill/model.sdf b/models/citadel_hill/model.sdf new file mode 100644 index 0000000..68ccdc2 --- /dev/null +++ b/models/citadel_hill/model.sdf @@ -0,0 +1,19 @@ + + + + 0 0 0 0 0 0 + true + + + + + + + 1 1 1 + model://citadel_hill/meshes/citadel.dae + + + + + + diff --git a/src/MoCap_Localization_noTether.py b/src/MoCap_Localization_noTether.py index 56e541a..1aef9af 100755 --- a/src/MoCap_Localization_noTether.py +++ b/src/MoCap_Localization_noTether.py @@ -41,6 +41,7 @@ class Main: ### -*-*-*- END -*-*-*- ### # initialize variables + self.buff_pose = PoseStamped() self.drone_pose = PoseStamped() # Max dot values to prevent 'blowup' @@ -105,23 +106,20 @@ class Main: pose.orientation.w]) return q -# def FRD_Transform(pose) -# ''' -# Transforms mocap reading to proper coordinate frame -# ''' -# pose.position.x = -# pose.position.y = -# pose.position.z = + def FRD_Transform(self) + ''' + Transforms mocap reading to proper coordinate frame + ''' + self.drone_pose.position.x = self.buff_pose.position.y + self.drone_pose.position.y = self.buff_pose.position.x + self.drone_pose.position.z = -self.buff_pose.position.z # Keep the w same and change x, y, and z as above. -# pose.orientation.x = -# pose.orientation.y = -# pose.orientation.z = -# pose.orientation.w = - -# return pose - - + self.drone_pose.orientation.x = self.buff_pose.orientation.y + self.drone_pose.orientation.y = self.buff_pose.orientation.x + self.drone_pose.orientation.z = -self.buff_pose.orientation.z + self.drone_pose.orientation.w = self.buff_pose.orientation.w + # def path_follow(self,path_timer): # now = rospy.get_time() # if now - self.tstart < self.wait: @@ -132,12 +130,13 @@ class Main: def bodyPose_cb(self,msg): try: - self.drone_pose = msg + self.buff_pose = msg except ValueError: pass def publisher(self,pub_timer): + self.FRD_Transform() self.pose_pub.publish(self.drone_pose) if __name__=="__main__":