ku-ya / uav_geometric_controller Goto Github PK
View Code? Open in Web Editor NEWUAV node for ROS
UAV node for ROS
Provide more detail about the issues of using Anaconda and ROS
pip
commands to install useful science packages - scipy, numpy, etcTLDR: Don't use Anaconda but simply use the system python interpreter
It might make sense to separate the functionality of ROS and the non-ROS related functions.
For example, the controller functions should simply accept the state, desired state, and constants and output the required Moment or Force.
A separate function should then output this value to ROS and the hardware.
This will enable easier testing using gtest
The mapping from controller moment to motor commands is done using
// Given the UAV arm length of 0.31 m and a prop. angle of 15 deg.
invFMmat << 0.0000, 1.2879, -0.1725, -0.0000, 1.1132, 0.3071,
-1.1154, 0.6440, 0.1725, 0.9641, -0.3420, 0.7579,
-1.1154, -0.6440, -0.1725, -0.9641, -0.7712, 1.7092,
-0.0000, -1.2879, 0.1725, 0, 1.1132, 0.3071,
1.1154, -0.6440, -0.1725, 0.9641, -0.3420, 0.7579,
1.1154, 0.6440, 0.1725, -0.9641, -0.7712, 1.7092;
which is found here. It might make sense to make this a function rather than hard coded.
Some ideas:
Inputs: Motor arm length, angle of rotors, number of rotors
Outputs: Mapping matrix
I'll also give this a shot since it's easy and I probably can't screw it up too much
Python can read and output a bag file
Change the motor power values to ros std multiarray
Use the various capabilities of logging to improve debugging using rosconsole
make controller testing at compile with unit test functions
implementation for i2c communication for the class
Gains should be function of the system
Use a linear system analysis to relate the gains k_R and k_omega to settling time, and percent overshoot
I truly appreciate your work.
I am going to add PX4 standard messages to your project. My first impression of the code, it shouldn't be so complicated.
Is there any point or remarks that I need to be aware about this matter? A similar project would also be a great asset.
Another question, I want to use just part of Geo-controller (Position controller) and use PX4 to do the rest (basic controller). Can you also help me in this matter?
Cheers
Complete instructions
read and write correct RPY value to drone_variables
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