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oscillation_ctrl
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Update 'README.md'

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cesar.alejandro 2022-08-18 11:40:12 -07:00
parent 469accc8dc
commit 8355f70c10
1 changed files with 8 additions and 11 deletions
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README.md
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@ -83,14 +83,14 @@ Initilize rosdep:
sudo apt-get install -y xterm sudo apt-get install -y xterm
### Clone oscillation_ctrl ### Clone oscillation_ctrl
cd ~catkin_ws/src cd ~/catkin_ws/src
git clone https://git.spirirobotics.com/cesar.alejandro/oscillation_ctrl.git git clone https://git.spirirobotics.com/cesar.alejandro/oscillation_ctrl.git
### Add files to _tools/sitl_gazebo_ ### Add files to _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
cp -R ~catkin_ws/src/oscillation_ctrl/models/* ~/PX4-Autopilot/Tools/sitl_gazebo/models cp -R ~/catkin_ws/src/oscillation_ctrl/models/* ~/PX4-Autopilot/Tools/sitl_gazebo/models
cp -R ~catkin_ws/src/oscillation_ctrl/worlds/* ~/PX4-Autopilot/Tools/sitl_gazebo/worlds cp -R ~/catkin_ws/src/oscillation_ctrl/worlds/* ~/PX4-Autopilot/Tools/sitl_gazebo/worlds
### Add files to _ROMFS/px4mu_common ### Add files to _ROMFS/px4mu_common
copy (or add) files in _oscillation_ctrl/airframes_ to _PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes_ copy (or add) files in _oscillation_ctrl/airframes_ to _PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes_
@ -137,12 +137,12 @@ In catkin_ws (or any working directory) add to devel/setup.bash:
## ROS NODES ## ROS NODES
### LinkState.py ### 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 step 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__: __Publishes to__:
/status/twoBody_status # localization and angles /status/twoBody_status # no longer used but keeps track of payload and vehicle position
/status/load_angles # payload angles (and tates) relative to vehicle /status/load_angles # payload angles (and states) relative to vehicle
/status/path_follow # boolean to run trajectory test /status/path_follow # boolean to run trajectory test
__Subscribes to__: __Subscribes to__:
@ -164,7 +164,6 @@ takes in desired position (xd) and determines smooth path trajectory.
__Publishes to__: __Publishes to__:
/reference/path # smooth path /reference/path # smooth path
/reference/flatsetpoint # needed to determine thrust
__Subscribes to__: __Subscribes to__:
@ -180,7 +179,7 @@ determines forces on drone needed based on smooth path and feedback to dampen os
__Publishes to__: __Publishes to__:
/command/quaternions # attitude commands /command/att_target # attitude commands
__Subscribes to__: __Subscribes to__:
@ -190,8 +189,6 @@ __Subscribes to__:
/mavros/local_position/velocity_body /mavros/local_position/velocity_body
/mavros/imu/data /mavros/imu/data
- 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 ### 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.
@ -202,7 +199,7 @@ __Publishes to__:
__Subscribes to__: __Subscribes to__:
/command/quaternions /command/att_target
/command/bodyrate_command /command/bodyrate_command
/mavros/state /mavros/state