forked from cesar.alejandro/oscillation_ctrl
removing mocap files - Not relavent to spiri
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@ -1,7 +1,7 @@
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config/mocap*
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launch/cortex_bridge.launch
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launch/debug.launch
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launch/klausen_dampen.launch
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launch/headless_spiri_mocap.launch
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launch/headless_spiri_with_tether_mocap.launch
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launch/mocap_*
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src/development_*
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src/killswitch_client.py
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@ -15,4 +15,5 @@ msg/Marker.msg
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msg/Markers.msg
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*.rviz
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setup.txt
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px4_setup/protobuf_install.txt
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@ -84,17 +84,11 @@ target_link_libraries(pathFollow_node ${catkin_LIBRARIES})
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add_dependencies(pathFollow_node ${${PROJECT_NAME}EXPORTEDTARGETS} ${catkin_EXPORTED_TARGETS})
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#add_dependencies(pathFollow_node oscillation_ctrl_generate_messages_cpp)
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#add_executable(mocap_offb_node src/mocap_offb_node.cpp)
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add_executable(mocap_pathFollow_node src/mocap_path_follow.cpp)
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#target_link_libraries(mocap_offb_node ${catkin_LIBRARIES})
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target_link_libraries(mocap_pathFollow_node ${catkin_LIBRARIES})
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#add_dependencies(mocap_offb_node ${${PROJECT_NAME}EXPORTEDTARGETS} ${catkin_EXPORTED_TARGETS})
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#add_executable(mocap_pathFollow_node src/mocap_path_follow.cpp)
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#target_link_libraries(mocap_pathFollow_node ${catkin_LIBRARIES})
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#add_dependencies(mocap_pathFollow_node ${${PROJECT_NAME}EXPORTEDTARGETS} ${catkin_EXPORTED_TARGETS})
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add_dependencies(mocap_pathFollow_node ${${PROJECT_NAME}EXPORTEDTARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ library
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# add_library(${PROJECT_NAME}
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@ -56,5 +56,9 @@ Launch file to use klausen oscillaton damping ctrl in Gazebo
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<!-- PX4 LAUNCH -->
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<include file="$(find oscillation_ctrl)/launch/$(arg model)_mocap.launch">
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</include>
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<!-- Tf LAUNCH -->
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<node pkg="tf" type="static_transform_publisher" name="map_to_pload_imu" args="0 0 0 0 0 0 map pload_imu 10" />
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<node pkg="tf" type="static_transform_publisher" name="map_to_pload" args="0 0 0 0 0 0 map payload 10" />
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</launch>
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@ -1,44 +0,0 @@
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<?xml version="1.0"?>
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<launch>
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<arg name="model" default="headless_spiri_with_tether"/>
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<arg name='test' default="none"/>
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<group ns="sim">
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<rosparam file="$(find oscillation_ctrl)/config/gazebo_config.yaml" />
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</group>
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<group ns="status">
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<rosparam file="$(find oscillation_ctrl)/config/noCtrl_param.yaml" />
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<param name="test_type" value="$(arg test)"/>
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</group>
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<node
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pkg="oscillation_ctrl"
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type="LinkState.py"
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name="LinkStates"
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launch-prefix="xterm -e"
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/>
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<node
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pkg="oscillation_ctrl"
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type="offb_node"
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name="offb_node"
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launch-prefix="xterm -e"
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/>
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<node
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pkg="oscillation_ctrl"
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type="wpoint_tracker.py"
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name="waypoints_server"
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/>
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<group if="$(eval test != 'none')">
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<node
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pkg="oscillation_ctrl"
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type="perform_test.py"
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name="test_node"
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launch-prefix="xterm -e"
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/>
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</group>
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<!-- PX4 LAUNCH -->
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<include file="$(find px4)/launch/$(arg model).launch"/>
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</launch>
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@ -200,7 +200,11 @@ class Main:
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# fill out necesssary fields
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self.drone_pose.header.frame_id = "/map"
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self.drone_pose.header.stamp = rospy.Time.now()
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# load angles
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self.load_angles.header.stamp = rospy.Time.now()
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# twobody status
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self.twobody_status.header.frame_id = "/map"
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self.twobody_status.header.stamp = rospy.Time.now()
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# publish
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self.visionPose_pub.publish(self.drone_pose) # publish pose to mavros
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self.loadAng_pub.publish(self.load_angles) # publish load angles to controller
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@ -15,7 +15,7 @@ import rosservice
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from tf.transformations import *
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from scipy.integrate import odeint
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from oscillation_ctrl.msg import RefSignal, LoadAngles, TetheredStatus
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from oscillation_ctrl.msg import RefSignal, LoadAngles
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from oscillation_ctrl.srv import WaypointTrack
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from geometry_msgs.msg import Pose, Point, TwistStamped, PoseStamped
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from sensor_msgs.msg import Imu
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@ -185,7 +185,8 @@ class Main:
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if rospy.has_param('status/hover_throttle'):
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hover_throttle = rospy.get_param('status/hover_throttle')
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else:
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hover_throttle = (self.tot_m*9.81 + 9.57)/34.84 # linear scaling depending on dependent on mass
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hover_throttle = (self.tot_m*9.81 + 11.2)/34.84 # linear scaling depending on dependent on mass
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rospy.set_param('status/hover_throttle',hover_throttle)
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kf = hover_throttle/(self.tot_m*9.81)
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return kf
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@ -182,8 +182,14 @@ int main(int argc, char **argv)
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takeoff = true;
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}
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}
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if (waypoint_cl.call(wpoint_srv)){
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// check if waypoints have changed
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buff_pose.pose.position.x = wpoint_srv.response.xd.x;
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buff_pose.pose.position.y = wpoint_srv.response.xd.y;
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buff_pose.pose.position.z = wpoint_srv.response.xd.z;
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alt_des = wpoint_srv.response.xd.z;
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}
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// Check if we want to use oscillation controller
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//if (ros::param::get("/use_ctrl", oscillation_damp) == true){
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if (ros::param::has("/status/use_ctrl")){
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ros::param::get("/status/use_ctrl", oscillation_damp);
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if(oscillation_damp){
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