-
Notifications
You must be signed in to change notification settings - Fork 991
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.
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
Add topics for orientation control setpoint. #33
Comments
Can you please add support for position control setpoint too :) |
Could you list messages what you want? |
The positon control messages will be implemented in Mavlink Rev. 4 Might take some time... I'll update you then. Anyway, do you plan to do the orientation control plugin in recent future? Otherwise i will do it for you :D Will you implement a custom message type? Tell me your plan ;) |
Now I do not have UAV, only APM (waiting Bixler 2) and later pixhawk (when 3DR will again send a parcel to Russia). While this plugin is delayed, I will gladly accept your contribution. ROS API: I guided by the principle: the use of standard type wherever possible. |
@vooon I sent you an e-mail with a possible code that integrates this with a vision plugin. If you can do or point out corrections to make it work it would be good. I think the code is self explanatory of what is needed. |
@TSC21 Recently received only from Nuno. Send again please. Update: i think i must cleanup first. |
@TSC21 Recently received only from Nuno. Send again please. Update: i think i must cleanup first. I'm Nuno ;) sorry I forgot to present my self. |
Now i'm trying Glenn's code (for understanding). Playing with rviz (and did not work, mav_basic node). |
Yeah maybe it's better to put rviz things in a separate node. But then the plugin must be able to send /local_pos_NED or equivalent /local_pos_ENU (as a /tf or a geometry_msgs/Point) and the pose of the mav (based on it's attitude -> send this as a PoseWithCovarianceStamped). The /tf should be between /base_link (or /mav) and a base_frame of our choice (p.e. /odom->/base_link, /map->/base_link). Also receive a /tf or a geometry_msg/Pose or PoseWithCoriance. Any of it should come from a planner to send through SET_LOCAL_POSITION_SETPOINT msg and one coming from a visual odometry/ pose estimation/ SLAM system to send through VISION_POSITION_ESTIMATE msg. In the case of a /tf, it should be through a lookup transform between /base_link and /map (or /local_origin). The planning frame should be sync with the local frame of the mav. What's not working? You need mav_tracker.launch to be running to give you the tf between /local_origin and /ar_marker_8 and /ar_marker_8 and /camera (which can be /camera_link if using openni driver with a kinect type camera). Also there's a slight change I think that has to be made in px4_viz.cpp related to a tf that is being made between the marker and px4 (or camera and px4 not really certain). It has to be mav not px4 I think. --- Mensagem Original --- De: "Vladimir Ermakov" notifications@github.com
Now i'm trying Glenn's code (for understanding). Playing with rviz (and did not work, mav_basic node). Reply to this email directly or view it on GitHub: |
Hi guys, I was hoping to get my node running in mavros today but have run out of time. Thanks for supporting ROS hydro with boost 1.46 :) I agree that the different functionality should be split into multiple plugins:
mav_basic was a node that simply added visualisation (four circles and an arrow) to visualize the quad in RViz at the /mav frame. I had static transforms to define /mav and /local_origin positions relative to /camera and /ar_marker_8 respectively. |
Finally forced to work rviz_imu_plugin (needed static_transform_publisher for /fcu). And it looks like I have not correctly convert coordinate frame. Roll on X, Pitch on Y, Yaw on Z (match). Strange: imu_filter_madgwick connected to mag & data_raw from mavros don't post anything on /imu/data. |
Update: orientation is correct (i forget that ENU: forward X, while on NED: forward Y). |
Fix magnetometer vector convertion (HR IMU). Related #33.
Conversions are fine: http://www.av8n.com/physics/coords.htm (axes icon on APM confusing me). |
Hi @vooon, What accel vector is that? Linear Z accel? The marker you are creating is using what attitude data? |
Receive LOCAL_POSITION_NED message and publish it via TF and PoseStamped topic in ENU frame. Part of #33.
This vector created by rviz_imu_plugin, Yes it is Z. @TSC21, @ggregory8 can you test local_position plugin? Update: doc http://wiki.ros.org/mavros#local_position |
Once I get mavros running properly (see my latest issue) ill test this tomorrow. |
What are the test conditions? I'm with PX4 stack, master firmware version. Echoing /mavros/position/local: header: Position is drifting as hell relative to the local_origin, which I think is normal since we are just using IMU based attitude to positioning the vehicle right? But why does the orientation doesn't change? But it seems to be working. We need now to establish a plugin to send a vision_position_estimate to the fcu, so it can give us a more plausible pose. |
Try view in rviz (take screenshot). I think orientation computed from wrong source, but because i can not test i use your code. |
Tested: not working. Got the following when echoing the /position/local topic: header: No orientation source then... What did you change in the code? |
Strange. Orientation computed from ATTITUDE RPY angles (imu_pub), stores in UAS. |
Here it is: header: Seems good no? |
@LorenzMeier already sent you an e-mail with the link for downloading the VM ;) Guys, if anyone else wants this image just send me a PM. I have been with some work on the odroid side, trying to get a wifi dual-band dongle working with the Linaro 12.11 image (I'll be probably using the Fully Loaded image, with Unity desktop - I was able to get it with a 3.8 kernel and now just have to test if the vision pkgs + mavros are properly working on it; Maybe then I will also create a custom Odroid image to share with you and in the Offboard PX4 tutorials). |
Here is the state Glenn had success with: |
Warn: @TSC21 send to me another setpoint* plugins, so in generalization i will change |
Remove copy-paste tf_listener. Issue #33.
@vooon vision plugin just works if I add the prefix So it stays like this: |
@TSC21 Moving vision to |
So in the vision pose estimator pkg I must remap, for example, |
Yep, that's what you should do. On Wed, Aug 6, 2014 at 8:42 PM, TSC21 notifications@github.com wrote:
|
Welcome @mhkabir :D Should be done then! |
Currently message update in bound with #94. |
Note: message name updated for mavlink sub-rev4 (#97). |
@vooon This works fine, as tested by users. |
Can close now. Doing some restruct on my linux machine now. Will be back at the project soon ;) |
No description provided.
The text was updated successfully, but these errors were encountered: