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OscillationControlWithCircle
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Updated README.md to explain installation

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scorpio1 2022-07-14 12:05:52 -07:00
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This file is supposed to work along with the spiri simulation, found at https://git.spirirobotics.com/cesar.alejandro/oscillation_ctrl/src/branch/master. Make sure you have this installed and working first.
Installation:
1: Follow the installation guide at https://git.spirirobotics.com/cesar.alejandro/oscillation_ctrl/src/branch/master to set up the oscillation_ctrl package, along with everything required to run the oscilattion_damp simulations
To set up the circle simulation, add the files from oscillation_ctrl_with_circle/launch to your oscillation_ctrl/launch folder, and the files from oscillation_ctrl_with_circle/src to your oscillation_ctrl/src folder.
2: Create a new directory (not in your catkin_ws) to house the github files. This could be done by running the commands
cd ~
mkdir OscillationControlWithCircle
Once you have copied the files into the correct folders, cd into your catkin_ws, and run catkin build. Once that is done, you are ready to run the circle simulation using roslaunch oscillation_ctrl oscillation_damp_circle.launch. Similar to oscillation_damp.launch, there is a model variable that you can add to your launch command, with options for spiri, spiri_with_tether, and headless_spiri_with_tether. There is also a variable turtle, which if set to true will also start a turtlesim node, and turtle_test node which will together create a turtle that follows the drones movement. This allows you to confirm the path is circular.
3: Run the command git clone https://git.spirirobotics.com/scorpio1/OscillationControlWithCircle.git
4: Run the command cd OscillationControlWithCircle
5: Run the command chmod u+x setup.bash
6: Run the command ./setup.bash
7: Move into your catkin_ws directory (cd ~/catkin_ws)
8: Rebuild your catkin_ws using the command catkin build
Running the demo:
You are now ready to run the circle demo. You can do so by running 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.
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.