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MRASL
  • What is Gitbook
  • VICON
    • Overview
    • Pre-setup
    • Calibration
    • Vicon object
    • Access to Vicon data
      • Vicon - ROS
  • Firefly hexarotor UAV
    • Overview
    • Pre-setup
    • MSF filter
    • Demo
  • OTHERS
    • Visual odometry
      • Traditional VO
      • Deep learning VO
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  • Before running the controller
  • Running the controller
  • Send the reference
  • Verify the result
  • Example

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  1. Firefly hexarotor UAV

Demo

PreviousMSF filterNextVisual odometry

Last updated 3 years ago

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Before running the controller

  • RVIZ and RQT

  • Check our page

  • Remote control

  • Start the motors

Running the controller

  • Running the controller node by typing the following command in a Firefly's OBC terminal

    $ source devel/setup.bash
$ roslaunch gstf_control lqr_controller.launch

  • Menu Plugins/Introspection/Node Graph: check node

  • Check the data before active the controller

    Topic /firefly/command/motor_speed/angular_velocities and /firefly/command/motor_speed/normalized should have to be 0.0 for all components.

  • Active the controller: change the remote control to autopilot

Send the reference

Menu Plugins/Topics/Message Publisher

  • Add the topic /firefly/command/pose by using the button +

  • Change the value of pose/position/z to 0.5

  • Check the box to publish

Verify the result

Menu Plugins/Topics/Topic Monitor

  • Command: topic /firefly/command/motor_speed/angular_velocities and /firefly/command/motor_speed/normalized

Example

Safety