forked from cesar.alejandro/oscillation_ctrl
Working jinja file generation
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README.md
12
README.md
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@ -103,7 +103,7 @@ Initilize rosdep:
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- add file name to _CmakeLists.txt_ in same 'airframe' folder (with number)
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- add airframe name in _~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake_ (no number!)
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### LAUNCH FILES
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copy (or add) files from px4_launch directory to '~/PX4-Autopilot/launch'
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- copy (or add) files from px4_launch directory to '~/PX4-Autopilot/launch'
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### MAVROS
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- in px4.launch, replace:
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@ -127,13 +127,21 @@ In catkin_ws (or any working directory) add to devel/setup.bash:
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cd $CURRENT_DIR
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## JINJA TETHER FILE
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- spiri_with_tether.sdf.jinja can be altered to create desired tether model
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- _spiri_with_tether.sdf.jinja_ can be altered to create desired tether model
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- changes need to be made in px4 directory and will only take effect and
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"make px4_sitl gazebo"
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- can do DONT_RUN=1 make px4_sitl gazebo to avoid starting px4 shell and gazebo
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- First two elements can be changed to tweak tether parameters
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- number_elements: number of segments tether will be composed of
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- tl: segment length (should be no shorter than 0.3 meters)
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- __IMPORTANT:__ in order for jinja file to work, the following needs to be added to the _CMakeLists.txt_ (Ln 288 - may change in future) in the _~/PX4-Autopilot/Tools/sitl_gazebo_ folder:
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COMMAND
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${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py models/spiri_with_tether/spiri_with_tether.sdf} ${CMAKE_CURRENT_SOURCE_DIR}
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DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py models/spiri_with_tether/spiri_with_tether.sdf
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VERBATIM
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)
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- This should be added in the line below VERBATIM in the add_custom_command function, which should be Ln 288)
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## ROS NODES
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@ -0,0 +1,24 @@
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<?xml version="1.0"?>
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<!--
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Launch file to use klausen oscillaton damping ctrl in Gazebo
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/-->
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<launch>
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<arg name="mav_name" default="spiri"/>
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<arg name="command_input" default="1" />
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<arg name="log_output" default="screen" />
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<arg name="fcu_protocol" default="v2.0" />
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<arg name="respawn_mavros" default="false" />
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<arg name="gazebo_gui" default="false" />
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<node
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pkg="oscillation_ctrl"
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type="MoCap_Localization_noTether.py"
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name="localize_node"
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/>
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<!-- Cortex bridge launch -->
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<include file="$(find cortex_bridge)/launch/cortex_bridge.launch"/>
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<!-- MAVROS launch -->
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<include file="$(find mavros)/launch/px4.launch"/>
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</launch>
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@ -106,19 +106,19 @@ class Main:
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pose.orientation.w])
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return q
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def FRD_Transform(self)
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def FRD_Transform(self):
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'''
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Transforms mocap reading to proper coordinate frame
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'''
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self.drone_pose.position.x = self.buff_pose.position.y
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self.drone_pose.position.y = self.buff_pose.position.x
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self.drone_pose.position.z = -self.buff_pose.position.z
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self.drone_pose.pose.position.x = self.buff_pose.pose.position.y
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self.drone_pose.pose.position.y = self.buff_pose.pose.position.x
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self.drone_pose.pose.position.z = -self.buff_pose.pose.position.z
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# Keep the w same and change x, y, and z as above.
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self.drone_pose.orientation.x = self.buff_pose.orientation.y
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self.drone_pose.orientation.y = self.buff_pose.orientation.x
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self.drone_pose.orientation.z = -self.buff_pose.orientation.z
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self.drone_pose.orientation.w = self.buff_pose.orientation.w
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self.drone_pose.pose.orientation.x = self.buff_pose.pose.orientation.y
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self.drone_pose.pose.orientation.y = self.buff_pose.pose.orientation.x
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self.drone_pose.pose.orientation.z = -self.buff_pose.pose.orientation.z
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self.drone_pose.pose.orientation.w = self.buff_pose.pose.orientation.w
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# def path_follow(self,path_timer):
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# now = rospy.get_time()
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