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oscillation_ctrl
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Update 'README.md'

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cesar.alejandro 2022-09-15 13:12:41 -07:00
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README.md
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@ -51,7 +51,7 @@ To add the necessary Spiri Mu files to PX4, run:
bash /.oscillation_ctrl/px4_setup/px4_bash.sh
### Add airframes to cmake targets
add 'spiri' and 'spiri_with_tether' airframe names in _~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake_ under set(models...
Add 'spiri' and 'spiri_with_tether' airframe names in _~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake_ under set(models...
__do not add their airframe number! e.i. 4000 or 4001__
@ -75,6 +75,7 @@ then run:
sudo apt upgrade libignition-math2
If all is good, run:
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
@ -106,12 +107,12 @@ Finally, source your setup.bash file
- number_elements: number of segments tether will be composed of
- tl: segment length (should be no shorter than 0.3 meters)
# oscillation_ctrl info
# Oscillation_ctrl Info
Info pertaining to oscillation_ctrl repo such as what the ROS nodes do, different ROS parameters, etc.
## ROS Nodes
### LinkState.py
determines payload load angles and their rates (theta and phi) using Gazebo (needs to be made more robust), as well as determines tether length and keeps track of variables needed in case of a step or square test.
Determines payload load angles and their rates (theta and phi) using Gazebo (needs to be made more robust), as well as determines tether length and keeps track of variables needed in case of a step or square test.
__Publishes to__:
@ -133,7 +134,7 @@ __Subscribes to__:
/reference/waypoints
### ref_signalGen.py
takes in desired position (xd) and determines smooth path trajectory.
Takes in desired position (xd) and determines smooth path trajectory.
__Publishes to__:
@ -149,7 +150,7 @@ __Subscribes to__:
/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.
Determines forces on drone needed based on smooth path and feedback to dampen oscillations. From the forces needed, it publishes attitude commands.
__Publishes to__:
@ -164,9 +165,9 @@ __Subscribes to__:
/mavros/imu/data
### set_ploadmass.py
sets the payload mass to be _pload_mass_ value in the _spiri_param.yaml_
Sets the payload mass to be _pload_mass_ value in the _spiri_param.yaml_
### 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.
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__: