From 3465185a98ba28108fe6a5aec5ef59280d59125f Mon Sep 17 00:00:00 2001 From: scorpio1 Date: Mon, 18 Jul 2022 11:19:21 -0700 Subject: [PATCH] Update 'README.md' Added instructions for running acceleration based demo --- README.md | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 63f1104..8b072a2 100644 --- a/README.md +++ b/README.md @@ -23,7 +23,14 @@ This will copy the the files from src into the src folder of the oscillation_ctr This will rebuild your catkin workspace, making sure the changes all work. Running the demo: -You are now ready to run the circle demo. You can do so by running the command +You are now ready to run the circle demo. There are two versions of the demo, one based on waypoints and one based on controlling the spiri directly with acceleration. + +You can run the demo based on the waypoints using the command: roslaunch oscillation_ctrl oscillation_damp_circle.launch -There are also two optional parameters. Like oscilattion_damp.launch, there is an option to change the model. You can do so by adding model:=model name, replacing model name with of spiri, spiri_with_tether, headless_spiri_with_tether. + + +You can run the demo that uses the acceleration topic to control spiri using the command: +roslaunch oscillation_ctrl spiri_circle_acceleration.launch + +There are also two optional parameters that work on both demos. Like oscilattion_damp.launch, there is an option to change the model. You can do so by adding model:=model name, replacing model name with of spiri, spiri_with_tether, headless_spiri_with_tether. There is also an option to also start a turtlesim node, and a turtle_test node, which will create a turtlesim window with a turtle that maps the two dimensional movements of the drone. This will allow you to see if the drone deviates from a circular path. To enable this option, add turtle:=true to the end of your launch command. \ No newline at end of file