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OscillationControlWithCircle
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Update 'README.md' 

Added explanation for straight flight demo
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scorpio1 2022-07-22 05:48:35 -07:00
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@ -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.