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The rotors don't spin #30
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Thanks for opening your first issue here! Make sure that no other issues on the same topic have already been opened! |
As you can see, the |
So, great. This means it works. I mean, we found the motor spin issue. Obviously, automatic control feedback is needed to control system behavior. I just removed the typo. Please, try it again. Try to replace this line |
Replace the content of the file with this <?xml version="1.0"?>
<launch>
<arg name="name" default="bebop"/>
<arg name="x" default="0.0" />
<arg name="y" default="0.0" />
<arg name="z" default="0.02" />
<arg name="use_sim_time" default="true"/>
<arg name="world_name" default="basic"/>
<arg name="wind_force" default="0.5"/>
<arg name="wind_start" default="15.0"/>
<arg name="wind_duration" default="10.0"/>
<arg name="wind_direction_x" default="0.0"/>
<arg name="wind_direction_y" default="0.0"/>
<arg name="wind_direction_z" default="1.0"/>
<arg name="csvFilesStoring" default="false"/>
<arg name="csvFilesStoringTime" default="15.0"/> <!-- seconds -->
<arg name="user_account" default="giuseppe"/>
<arg name="waypoint_filter" default="true"/>
<arg name="EKFActive" default="false"/>
<arg name="enable_imu" default="true"/>
<arg name="enable_odometry_sensor_with_noise" default="false"/>
<!-- The "disable_odometry_sensor_with_noise" variable values is equal to true if "enable_odometry_sensor_with_noise"
is false, and viceversa -->
<arg name="disable_odometry_sensor_with_noise" value="true" unless="$(arg enable_odometry_sensor_with_noise)"/>
<arg name="disable_odometry_sensor_with_noise" value="false" if="$(arg enable_odometry_sensor_with_noise)"/>
<arg name="enable_ground_truth_sensor" default="false"/>
<arg name="enable_wind_plugin" default="false"/>
<arg name="enable_laser1D" default="false"/>
<env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find bebop_simulator)/models"/>
<env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find bebop_simulator)/models"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find bebop_simulator)/worlds/$(arg world_name).world" />
</include>
<!-- Launch UAV -->
<include file="$(find bebop_simulator)/launch/spawn_bebop.launch">
<arg name="name" value="$(arg name)" />
<arg name="x" value="$(arg x)"/>
<arg name="y" value="$(arg y)"/>
<arg name="z" value="$(arg z)"/>
<arg name="wind_force" value="$(arg wind_force)"/>
<arg name="wind_start" value="$(arg wind_start)"/>
<arg name="wind_duration" value="$(arg wind_duration)"/>
<arg name="wind_direction_x" value="$(arg wind_direction_x)"/>
<arg name="wind_direction_y" value="$(arg wind_direction_y)"/>
<arg name="wind_direction_z" value="$(arg wind_direction_z)"/>
<!-- The disable_odometry_sensor_with_noise will only become true if enable_odometry_sensor_with_noise will is false.
In this way, only one odometry sensor will be simulated: with or without noise. -->
<arg name="enable_odometry_sensor_with_noise" value="$(arg enable_odometry_sensor_with_noise)"/>
<arg name="disable_odometry_sensor_with_noise" value="$(arg disable_odometry_sensor_with_noise)" />
<arg name="enable_ground_truth_sensor" value="$(arg enable_ground_truth_sensor)"/>
<arg name="enable_wind_plugin" value="$(arg enable_wind_plugin)"/>
<arg name="enable_laser1D" value="$(arg enable_laser1D)"/>
<arg name="enable_imu" value="$(arg enable_imu)"/>
</include>
<!-- Launch the controller -->
<node name="position_controller_node" pkg="bebop_simulator" type="position_controller_node" output="screen">
<rosparam command="load" file="$(find bebop_simulator)/resource/controller_bebop.yaml" />
<rosparam command="load" file="$(find bebop_simulator)/resource/bebop.yaml" />
<rosparam command="load" file="$(find bebop_simulator)/resource/EKF_matrix.yaml" />
<rosparam command="load" file="$(find bebop_simulator)/resource/waypoint_filter.yaml" />
<param name="use_sim_time" value="$(arg use_sim_time)" />
<param name="csvFilesStoring" value="$(arg csvFilesStoring)"/>
<param name="csvFilesStoringTime" value="$(arg csvFilesStoringTime)"/>
<param name="user_account" value="$(arg user_account)"/>
<param name="waypoint_filter" value="$(arg waypoint_filter)"/>
<param name="EKFActive" value="$(arg EKFActive)"/>
<remap from="/odometry" to="/bebop/odometry" />
<remap from="/odometry_gt" to="/bebop/odometry_gt" />
<remap from="/referenceAngles" to="/bebop/referenceAngles" />
<remap from="/filteredOutput" to="/bebop/filteredOutput" />
<remap from="/stateErrors" to="/bebop/stateErrors" />
<remap from="/smoothedTrajectory" to="/bebop/smoothedTrajectory" />
<remap from="/command/trajectory" to="/bebop/command/trajectory" />
</node>
<!-- Launch the trajectory generator -->
<group ns="$(arg name)">
<node name="hovering_example" pkg="bebop_simulator" type="hovering_example" output="screen"/>
</group>
</launch> |
Run the
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Hi, it performs same as I run
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Please, pull my last change and try again. |
Everything works now! Thanksssss!!!! btw, where is the code for landing? (or are there any command for landing?) |
There is no command for landing. |
Hi, after installing the BebopS, I run the command
roslaunch bebop_simulator bebop_without_controller.launch
. The quadrotor shows successfully, while when I runrostopic pub /gazebo/command/motor_speed mav_msgs/Actuators '{angular_velocities: [1000, 1000, 1000, 1000]}'
, the terminal showspublishing and latching message
while the rotors of the aerial-robot don't spin.Then I tried the
roslaunch bebop_simulator task1_world.launch
it shows the errorInvalid <tag> tag: arg 'enable_imu' has already been declared.
Arg xml is <arg default="true" name="enable_imu"/>
It will be very kind of you if anyone can help me with that. Thanks!!!
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