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cesar 2022-03-07 11:20:39 -04:00
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@ -138,36 +138,36 @@ In catkin_ws (or any working directory) add to devel/setup.bash:
## ROS NODES ## 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: ### Publishes to:
/status/twoBody_status # localization and angles /status/twoBody_status # localization and angles
/status/path_follow # boolean to run trajectory test /status/path_follow # boolean to run trajectory test
>> Subscribes to: ### Subscribes to:
none 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: ### Publishes to:
/reference/path # smooth path /reference/path # smooth path
/reference/flatsetpoint # needed to determine thrust /reference/flatsetpoint # needed to determine thrust
>> Subscribes to: ### Subscribes to:
/status/twoBody_status /status/twoBody_status
/mavros/local_position/velocity_body /mavros/local_position/velocity_body
/mavros/imu/data /mavros/imu/data
/mavros/state /mavros/state
/reference/waypoints /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: ### Publishes to:
/command/quaternions # attitude commands /command/quaternions # attitude commands
/reference/flatsetpoint # needed to determine thrust /reference/flatsetpoint # needed to determine thrust
>> Subscribes to: ### Subscribes to:
/status/twoBody_status /status/twoBody_status
/reference/path /reference/path
/mavros/imu/data /mavros/imu/data
/mavros/local_position/velocity_body /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 - 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. - 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: ### Publishes to:
mavros/setpoint_position/local # needed to hover @ set height mavros/setpoint_position/local # needed to hover @ set height
mavros/setpoint_raw/attitude # attitude and thrust commands mavros/setpoint_raw/attitude # attitude and thrust commands
>> Subscribes to: ### Subscribes to:
/command/quaternions /command/quaternions
/command/bodyrate_command /command/bodyrate_command
/mavros/state /mavros/state