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oscillation_ctrl
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Update 'README.md'

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cesar.alejandro 2022-07-05 08:05:12 -07:00
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README.md
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@ -142,7 +142,7 @@ determines payload load angles and their rates (theta and phi) using Gazebo (nee
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/status/twoBody_status # localization and angles /status/twoBody_status # localization and angles
/status/load_angles # payload angles (and tates) relative to vehicle /status/load_angles # payload angles (and tates) relative to vehicle
/status/path_follow # boolean to run trajectory test /status/path_follow # boolean to run trajectory test
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@ -163,8 +163,8 @@ takes in desired position (xd) and determines smooth path trajectory.
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/reference/path # smooth path /reference/path # smooth path
/reference/flatsetpoint # needed to determine thrust /reference/flatsetpoint # needed to determine thrust
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@ -180,7 +180,7 @@ determines forces on drone needed based on smooth path and feedback to dampen os
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/command/quaternions # attitude commands /command/quaternions # attitude commands
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@ -197,8 +197,8 @@ sets the vehicle in OFFBOARD mode (PX4) and takes off to a set height for 25 sec
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mavros/setpoint_position/local # needed to hover @ set height mavros/setpoint_position/local # needed to hover @ set height
mavros/setpoint_raw/attitude # attitude and thrust commands mavros/setpoint_raw/attitude # attitude and thrust commands
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@ -216,15 +216,15 @@ The launch file itself has two usable arguments:
__model:__ __model:__
spiri_with_tether # Spiri Mu with a tethered payload spiri_with_tether # Spiri Mu with a tethered payload
spiri # Spiri Mu without tethered paylaod spiri # Spiri Mu without tethered paylaod
headless_spiri_with_tether # headless mode: launches with no Gazebo GUI. This is the default model headless_spiri_with_tether # headless mode: launches with no Gazebo GUI. This is the default model
__test:__ __test:__
none # default none # default
step # step input - default is 5 m step # step input - default is 5 m
square # square trajectory square # square trajectory
To run the simulation with a tethered payload headless mode and perform a step test: To run the simulation with a tethered payload headless mode and perform a step test:
roslaunch oscillation_ctrl oscillation_damp.launch model:=headless_spiri_with_tether test:=step roslaunch oscillation_ctrl oscillation_damp.launch model:=headless_spiri_with_tether test:=step