cesar.alejandro
/
oscillation_ctrl
1
0
Fork 1
Code Issues Pull Requests Projects Releases Wiki Activity

Update 'README.md'

This commit is contained in:
cesar.alejandro 2022-07-05 08:05:12 -07:00
parent b5f831aacd
commit b845d703a2
1 changed files with 12 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
README.md
View File

@ -142,7 +142,7 @@ determines payload load angles and their rates (theta and phi) using Gazebo (nee
__Publishes to__:
/status/twoBody_status # localization and angles
/status/load_angles # payload angles (and tates) relative to vehicle
/status/load_angles # payload angles (and tates) relative to vehicle
/status/path_follow # boolean to run trajectory test
__Subscribes to__:
@ -163,8 +163,8 @@ takes in desired position (xd) and determines smooth path trajectory.
__Publishes to__:
/reference/path # smooth path
/reference/flatsetpoint # needed to determine thrust
/reference/path # smooth path
/reference/flatsetpoint # needed to determine thrust
__Subscribes to__:
@ -180,7 +180,7 @@ determines forces on drone needed based on smooth path and feedback to dampen os
__Publishes to__:
/command/quaternions # attitude commands
/command/quaternions # attitude commands
__Subscribes to__:
@ -197,8 +197,8 @@ sets the vehicle in OFFBOARD mode (PX4) and takes off to a set height for 25 sec
__Publishes to__:
mavros/setpoint_position/local # needed to hover @ set height
mavros/setpoint_raw/attitude # attitude and thrust commands
mavros/setpoint_position/local # needed to hover @ set height
mavros/setpoint_raw/attitude # attitude and thrust commands
__Subscribes to__:
@ -216,15 +216,15 @@ The launch file itself has two usable arguments:
__model:__
spiri_with_tether # Spiri Mu with a tethered payload
spiri # Spiri Mu without tethered paylaod
headless_spiri_with_tether # headless mode: launches with no Gazebo GUI. This is the default model
spiri_with_tether # Spiri Mu with a tethered payload
spiri # Spiri Mu without tethered paylaod
headless_spiri_with_tether # headless mode: launches with no Gazebo GUI. This is the default model
__test:__
none # default
step # step input - default is 5 m
square # square trajectory
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 oscillation_damp.launch model:=headless_spiri_with_tether test:=step