From 8850686aade6a35ec9c69decfc2973183b7c65a6 Mon Sep 17 00:00:00 2001 From: scorpio1 Date: Fri, 12 Aug 2022 12:10:20 -0700 Subject: [PATCH] Update 'README.md' --- README.md | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 8fdaaed..ac8add2 100644 --- a/README.md +++ b/README.md @@ -51,8 +51,13 @@ roslaunch oscillation_ctrl oscillation_damp_circle.launch You can run the demo that uses the acceleration topic to control spiri using the command: roslaunch oscillation_ctrl spiri_circle_acceleration.launch -There is also a launch file that corresponds to straight line flight. To run this file, use the command: +There is a launch file that corresponds to straight line flight. To run this file, use the command: roslaunch oscillation_ctrl spiri_straight_line.launch There are also two optional parameters that work on all 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 +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. + +Finally, there is a launch file that corresponds to the obstacle avoidance demos. To run this file, use the command: +roslaunch oscillation_ctrl obstacle_avoidance.launch + +Like the other launch files, there are the model and turtle optional parameters. You can additionally change the walls you want spiri to avoid. You do so in the obstacle_test.py file. Near the bottom, there will be a variable called wall_lines. This variable can be modified to add or remove lines. Each element of the list is a line. Each line is a tuple of the form ([m,b],lower bound, upper bound), where the line is defined by the equation y=mx+b, and exists for lower bound