Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Updates from MBZIRC development #88

Closed
wants to merge 81 commits into from
Closed

Updates from MBZIRC development #88

wants to merge 81 commits into from

Conversation

justinthomas
Copy link
Contributor

No description provided.

@justinthomas
Snapshot of some progress. Not yet tested IRL.
2cb8926
@justinthomas
Add status so emergency procedures cannot be called if not flying
712cfcc
@justinthomas
Fix bug with eland
caaa32b
@justinthomas
Merge remote-tracking branch 'origin/master' into devel/mavros_interface
ba76b71 
Conflicts:
	mavros_interface/CMakeLists.txt
@justinthomas
Relocate tracker parameter yaml file
300ba8c
@justinthomas
Put Asctec-specific nodes in new launch file to include in demo.launch
d51f715
@justinthomas
Stop using private node handles for common params
52d99b1
@justinthomas
mass in mav_manager and so3_control set using subscriber
8d8c167
@justinthomas
Simplify sim.launch
970fefb
@justinthomas
Switch the dependency of sim.launch on mav_manager's demo.launch
95e5f9c 
Note: I removed the mass argument since it is set in the
hummingbird_params.yaml file and should be able to be different than the
mass that the controllers are using.
@justinthomas
Merge branch 'refactor/params' into mbzirc
e22f196
@justinthomas
Rename so3cmd_to_mavros_nodelet to mavros_interface_nodelet
e36b12f
@justinthomas
Allow for odom different from mavros' odom in mavros_interface
d50baab
@justinthomas
Merge branch 'devel/mavros_interface' into mbzirc
12cd386
@justinthomas
Use bool to decide conversion of mavros odom
e360e83
@justinthomas
Sample launch files
eec0cd7
@justinthomas
Remove the odom_pose publisher
5f6c9ed
@justinthomas
Rename so3cmd_to_mavros_nodelet to mavros_interface_nodelet
5999362
@justinthomas
Allow for odom different from mavros' odom in mavros_interface
57bbe43
@justinthomas
Use bool to decide conversion of mavros odom
b58b1d6
@justinthomas
Sample launch files
d97bae3
@justinthomas
Remove the odom_pose publisher
dff316b
@justinthomas
Check for odom before publishing so3_command from so3_control
a00ec95
@justinthomas
Merge branch 'feature/mav_manager_safety' into mbzirc
4914624 
Conflicts:
	mav_manager/src/manager.cpp
@justinthomas
Change subscriber and publisher nodehandles back to private
834404e
@justinthomas
Merge branch 'refactor/params' into mbzirc
db74eee
@justinthomas
Fix minor bug with frame conversion
db419e2
@justinthomas
Merge branch 'devel/mavros_interface' into mbzirc
0e38afe 
Conflicts:
	mavros_interface/src/mavros_interface_nodelet.cpp
@justinthomas
Publish mav_manager internal status
2835b26
@justinthomas
Merge branch 'feature/mav_manager_safety' into mbzirc
8c6a440
@justinthomas
Merge branch 'feature/so3_control_dynamic_reconfigure' into mbzirc
3f44702 
* feature/so3_control_dynamic_reconfigure:
  Fix scope issue
  Add dynamic reconfigure to so3_control_nodelet

# Conflicts:
#	so3_control/CMakeLists.txt
#	so3_control/src/so3_control_nodelet.cpp
@justinthomas
Ignore CATKIN_IGNORE
3a172ba
@justinthomas
Duplication fix, and more specific digits
5f640f0
@justinthomas
Increase max integrals
18400d5
@justinthomas
Duplication fix, and more specific digits
bbefcf6
@justinthomas
Increase max integrals
8e4ead4
@justinthomas
Merge branch 'feature/so3_control_dynamic_reconfigure' into mbzirc
ae6ebfb 
* feature/so3_control_dynamic_reconfigure:
  Increase max integrals
  Duplication fix, and more specific digits

# Conflicts:
#	so3_control/src/so3_control_nodelet.cpp
@justinthomas
Change integral limits
a9a5660
@justinthomas
Merge branch 'master' into feature/so3_control_dynamic_reconfigure
f7f74e8 
* master:
  Install quadrotor_simulator config folder
  mavros_interface: Add mavros_msgs_INCLUDE_DIRS to CMakeLists.txt
  mavros_interface: Only warn when psi check fails, don't set throttle = 0
  mavros_interface: Add a num_props param, change kf to per prop value
  Update asio_serial_device submodule
  quadrotor_msgs: "DEPENDS eigen" -> "DEPENDS Eigen" in CMakeLists.txt
  Some big changes to so3_control (#86)
  Add safety checks in mav manager (#82)
  Initialize publishers before subscribers

# Conflicts:
#	so3_control/config/gains.yaml
#	so3_control/include/so3_control/SO3Control.h
#	so3_control/src/SO3Control.cpp
#	so3_control/src/so3_control_nodelet.cpp
@justinthomas
Remove Extra Lines
14b49c1
@justinthomas
Reconfigure almost everything in so3_control
56ca12d
@justinthomas
Merge branch 'feature/so3_control_dynamic_reconfigure' into mbzirc
03101a4 
* feature/so3_control_dynamic_reconfigure:
  Reconfigure almost everything in so3_control
  Remove Extra Lines

# Conflicts:
#	so3_control/cfg/SO3.cfg
#	so3_control/src/so3_control_nodelet.cpp
@justinthomas
Ignore CATKIN_IGNORE
c9a8771
@justinthomas
Interface to so3_control to ensure continuous gain changes
7dc04b9
@justinthomas
Use dynamic_reconfigure level correctly as bitmask per discussion in #88
6b2ce85
@justinthomas
Fix warning for unknown level
ec5c7db
@justinthomas
Fix logic error which reset gain setpoints if other gain updated
d06762c
@justinthomas
Merge commit 'ec5c7dbbb4f03681afd5c97f83afc21d586e0e73' into mbzirc
1fe081f 
* commit 'ec5c7dbbb4f03681afd5c97f83afc21d586e0e73':
  Fix warning for unknown level
  Use dynamic_reconfigure level correctly as bitmask per discussion in #88
  Interface to so3_control to ensure continuous gain changes
  Ignore CATKIN_IGNORE
@justinthomas
Better integral limits in cfg file
d6daf5f
@justinthomas
Merge branch 'feature/so3_control_dynamic_reconfigure' into mbzirc
ac9bd6a 
* feature/so3_control_dynamic_reconfigure:
  Better integral limits in cfg file
@justinthomas
Add parameters for Gains Filter
149b437
@justinthomas
Merge branch 'feature/so3_control_dynamic_reconfigure' into mbzirc
478de51 
* feature/so3_control_dynamic_reconfigure:
  Add parameters for Gains Filter
@justinthomas
Specify Eigen3 in mavros_interface/CMakeLists.txt
b1cca6b
@justinthomas
Use NODELET_INFO/WARN instead of ROS_INFO/WARN
7cbe80f
@tdinesh tdinesh mentioned this pull request Aug 10, 2019
Closed
8 tasks
@tdinesh tdinesh marked this pull request as draft April 21, 2020 23:36
@tdinesh tdinesh mentioned this pull request Apr 28, 2020
Merged
@tdinesh
Copy link
Collaborator

tdinesh commented Apr 28, 2020 •
edited
Loading

@kartikmohta Anything useful in this? Is it worth the effort to resolve conflicts?

Useful updates:

  • SetMass for changing payload on the fly
  • geometry_msgs/Vector3 snap in PositionCommand (Does any of our current interfaces consume snap? )

Maybe FLA has more important updates to mavros_interface?

@tdinesh tdinesh closed this Apr 28, 2020
@kartikmohta
Copy link
Collaborator

@kartikmohta Anything useful in this? Is it worth the effort to resolve conflicts?

Useful updates:

* SetMass for changing payload on the fly

* geometry_msgs/Vector3 snap in PositionCommand (Does any of our current interfaces consume snap? )

Maybe FLA has more important updates to mavros_interface?

  • The set mass might be useful, but fairly easy to implement now that we have the so3_control reconfigure.
  • I think snap is only useful when doing very aggressive motions, like flips, nothing uses it right now.
  • I don't remember if FLA has any big changes to mavros_interface

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers
No reviews
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.

None yet
5 participants
@justinthomas @tdinesh @kartikmohta @versatran01 @mwatterson