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oscillation_ctrl
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Update 'README.md'

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cesar.alejandro 2022-04-13 18:17:40 +00:00
parent ee7ec83869
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1 changed files with 8 additions and 17 deletions
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README.md
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@ -65,10 +65,8 @@ Initilize rosdep:
#### Download QGroundControl from: #### Download QGroundControl from:
https://docs.qgroundcontrol.com/master/en/releases/daily_builds.html https://docs.qgroundcontrol.com/master/en/releases/daily_builds.html
#### Build jMAVSim and Gazebo #### Build Gazebo Sim
cd ~/PX4-Autopilot cd ~/PX4-Autopilot
make px4_sitl jmavsim
#May need to open QGroundControl for it to work
make px4_sitl gazebo make px4_sitl gazebo
#### Create px4 package #### Create px4 package
@ -96,6 +94,7 @@ Initilize rosdep:
catkin build catkin build
source ~/catkin_ws/devel/setup.bash source ~/catkin_ws/devel/setup.bash
#####Troubleshooting: https://github.com/Jaeyoung-Lim/mavros_controllers #####Troubleshooting: https://github.com/Jaeyoung-Lim/mavros_controllers
### TOOLS/SITL_GAZEBO ### TOOLS/SITL_GAZEBO
- copy (or add) files in _oscillation_ctrl/models_ and _oscillation_ctrl/worlds_ to _PX4-Autopilot/Tools/sitl_gazebo/models_ and _PX4-Autopilot/Tools/sitl_gazebo/worlds_ respectively - copy (or add) files in _oscillation_ctrl/models_ and _oscillation_ctrl/worlds_ to _PX4-Autopilot/Tools/sitl_gazebo/models_ and _PX4-Autopilot/Tools/sitl_gazebo/worlds_ respectively
### ROMFS/PX4FMU_COMMON ### ROMFS/PX4FMU_COMMON
@ -104,16 +103,6 @@ Initilize rosdep:
- add airframe name in _~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake_ (no number!) - add airframe name in _~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake_ (no number!)
### LAUNCH FILES ### LAUNCH FILES
- copy (or add) files from px4_launch directory to '~/PX4-Autopilot/launch' - copy (or add) files from px4_launch directory to '~/PX4-Autopilot/launch'
### MAVROS
- in px4.launch, replace:
arg name="fcu_url" default="/dev/ttyACM0:57600"
arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550"
- with:
arg name="fcu_url" default="udp://:14551@192.168.1.91:14556"
arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550"
#### CHANGE DEVEL/SETUP.BASH #### CHANGE DEVEL/SETUP.BASH
In catkin_ws (or any working directory) add to devel/setup.bash: In catkin_ws (or any working directory) add to devel/setup.bash:
@ -148,6 +137,7 @@ In catkin_ws (or any working directory) add to devel/setup.bash:
- __LinkState.py__ determines payload load angles and their rates (theta and phi), as well as determines tether length and keeps track of variables needed in case of step test. - __LinkState.py__ determines payload load angles and their rates (theta and phi), as well as determines tether length and keeps track of variables needed in case of step test.
### Publishes to: ### Publishes to:
/status/twoBody_status # localization and angles /status/twoBody_status # localization and angles
/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
### Subscribes to: ### Subscribes to:
none none
@ -156,7 +146,8 @@ In catkin_ws (or any working directory) add to devel/setup.bash:
/reference/path # smooth path /reference/path # smooth path
/reference/flatsetpoint # needed to determine thrust /reference/flatsetpoint # needed to determine thrust
### Subscribes to: ### Subscribes to:
/status/twoBody_status /status/load_angles
/mavros/local_position/pose
/mavros/local_position/velocity_body /mavros/local_position/velocity_body
/mavros/imu/data /mavros/imu/data
/mavros/state /mavros/state
@ -164,12 +155,12 @@ In catkin_ws (or any working directory) add to devel/setup.bash:
- __klausen_control.py__ determines forces on drone needed based on smooth path and feedback to dampen oscillations. From the forces needed, it publishes attitude commands. - __klausen_control.py__ determines forces on drone needed based on smooth path and feedback to dampen oscillations. From the forces needed, it publishes attitude commands.
### Publishes to: ### Publishes to:
/command/quaternions # attitude commands /command/quaternions # attitude commands
/reference/flatsetpoint # needed to determine thrust
### Subscribes to: ### Subscribes to:
/status/twoBody_status /status/load_angles
/reference/path /reference/path
/mavros/imu/data /mavros/local_position/pose
/mavros/local_position/velocity_body /mavros/local_position/velocity_body
/mavros/imu/data
- node from _mavros_controllers/geometric_controller_ subscribes to _/reference/flatsetpoint_ to determine thrust commands which are published to _command/bodyrate_command_ by default - node from _mavros_controllers/geometric_controller_ subscribes to _/reference/flatsetpoint_ to determine thrust commands which are published to _command/bodyrate_command_ by default
- __path_follow.cpp__ sets the vehicle in OFFBOARD mode (PX4) and takes off to a set height for 25 seconds before starting to publish attitude and thrust commands. - __path_follow.cpp__ sets the vehicle in OFFBOARD mode (PX4) and takes off to a set height for 25 seconds before starting to publish attitude and thrust commands.
### Publishes to: ### Publishes to: