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component/quadrotor2 #243
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component/quadrotor2 #243
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* merged cmakelists due -fPIC issue related to Ice and shared libraries * using single port adapter * using single additional thread (boost::thread)
* bad usage of string::find() * critical typo on subscribers * using sensors without check nullity added paranoic compile flags to retrive all possible errors
also revert force debug compile (-g flag)
uncaught runtime error: *** Error in `gzserver': free(): invalid next size (normal): 0x00007f954000b510 *** There are no hints about error. With 'new' code, NOOP quadrotorplugin also fails
* main issue was due bad comman line invocation (-s <plugin>) * move out ice boostrap boostrap() and stop() must be thread safe (mutex) * add debugtools.h a 5 leves log trace * minor collateral changes
Conflicts: src/quadrotorcontrol.cc src/quadrotorplugin.cc
* Load PID params from sdf (missed requirement) * Readd force multipliers for takeoff/land * Move state machine control to its own function (shared for hector and novel)
* add string based enum for QuadrotorState
* control_novel is now almost deprecated using it only for debug purposes
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Tested, thanks! |
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Adds Gazebos' Quadrotor plugin
Related to #229
Redoes broken PR #239
version 2.0 made from scratch
Principal repository is at: https://github.com/varhub/jderobot-quadrotor2
Some kind of documentation can be found here: https://jderobot.org/Varribas-tfm/quadrotor_plugin_2.0
Just watch proposed architecture and milestones to get a brief view of component.