Demo

Before running the controller

• RVIZ and RQT

• Check our Safety 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