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oscillation_ctrl
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Merge branch 'master' of https://git.spirirobotics.com/cesar.alejandro/oscillation_ctrl

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cesar 2022-04-26 12:19:27 -03:00
parent f79c9d484c 7b576b2ad3
commit 67aec40dea
1 changed files with 14 additions and 9 deletions
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README.md
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@ -180,15 +180,20 @@ In catkin_ws (or any working directory) add to devel/setup.bash:
roslaunch oscillation_ctrl oscillation_damp.launch
- This simulation is set to have a Spiri Mu hover at an alitude of 5 m.
- The launch file itself has two usable arguments:
####model:
spiri_with_tether # default
spiri
headless_spiri_with_tether # headless mode: launches with no Gazebo GUI
headless_spiri
####test
none # default
step # step input - default is 5 m
square # square trajectory
__model:__
spiri_with_tether # default
spiri
headless_spiri_with_tether # headless mode: launches with no Gazebo GUI
__test:__
none # default
step # step input - default is 5 m
square # square trajectory
- To run the simulation with a tethered payload headless mode and perform a step test:
roslaunch oscillation_ctrl klausen_dampen.launch model:=headless_spiri_with_tether test:=step