From cd4fd05920ed3c065b5595599cb2bfaec471c8d2 Mon Sep 17 00:00:00 2001 From: cesar Date: Mon, 7 Mar 2022 11:20:39 -0400 Subject: [PATCH] readme changes --- README.md | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/README.md b/README.md index fb2f2c6..1ca2a05 100644 --- a/README.md +++ b/README.md @@ -138,36 +138,36 @@ In catkin_ws (or any working directory) add to devel/setup.bash: ## ROS NODES - 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/path_follow # boolean to run trajectory test ->> Subscribes to: +### Subscribes to: none - ref_signalGen.py takes in desired position (xd) and determines smooth path trajectory. ->> Publishes to: +### Publishes to: /reference/path # smooth path /reference/flatsetpoint # needed to determine thrust ->> Subscribes to: +### Subscribes to: /status/twoBody_status /mavros/local_position/velocity_body /mavros/imu/data /mavros/state /reference/waypoints - 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 /reference/flatsetpoint # needed to determine thrust ->> Subscribes to: +### Subscribes to: /status/twoBody_status /reference/path /mavros/imu/data /mavros/local_position/velocity_body -- 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. ->> Publishes to: +### Publishes to: mavros/setpoint_position/local # needed to hover @ set height mavros/setpoint_raw/attitude # attitude and thrust commands ->> Subscribes to: +### Subscribes to: /command/quaternions /command/bodyrate_command /mavros/state