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

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

3: Run the command git clone https://git.spirirobotics.com/scorpio1/OscillationControlWithCircle.git This will create a copy of the OscillationControlWithCircle files in the folder you just created

4: Run the command cd OscillationControlWithCircle This will move you into the OscillationControlWithCircle folder

5: Run the command chmod u+x setup.bash This will set it so you can execute the setup script

6: Run the command ./setup.bash This will copy the the files from src into the src folder of the oscillation_ctrl package, and the files from launch into the launch folder.

7: Move into your catkin_ws directory (cd ~/catkin_ws)

8: Run the command catkin build This will rebuild your catkin workspace, making sure the changes all work.

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.