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merge new read me fileMerge branch 'master' of https://git.spirirobotics.com/scorpio1/OscillationControlWithCircle

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Matas Keras 2022-08-12 15:10:34 -04:00
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@ -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.
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<x<upper bound. If you are making changes to this file, you can either make them in the oscillation_ctrl package, or you can make them in the local directory you have for this git page, and then run setup.bash again.