scorpio1
/
OscillationControlWithCircle
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Update 'README.md' 

Added instructions for running acceleration based demo
This commit is contained in:
scorpio1 2022-07-18 11:19:21 -07:00
parent def3667ec4
commit 3465185a98
1 changed files with 9 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
README.md
View File

@ -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.