From b8b82a2e6367a9b9f41254fdb6c227e74071395c Mon Sep 17 00:00:00 2001 From: scorpio1 Date: Fri, 22 Jul 2022 05:48:35 -0700 Subject: [PATCH] Update 'README.md' Added explanation for straight flight demo --- README.md | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index c5003b7..8fdaaed 100644 --- a/README.md +++ b/README.md @@ -51,5 +51,8 @@ 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 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 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