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HIL Plugin #684

Merged
merged 67 commits into from
Aug 17, 2017
Merged

HIL Plugin #684

merged 67 commits into from
Aug 17, 2017

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TSC21
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@TSC21 TSC21 commented Apr 3, 2017

This PR fixes some of @mzahana #636 PR. @vooon can you please review it?

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mzahana commented Apr 20, 2017

Can somebody who worked on HIL with jMAVSim step in and help here as that setup is supposed to be working?
That can help finalizing this PR faster.

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TSC21 commented Apr 20, 2017

@bkueng, @julianoes, @v01d, @kd0aij maybe you can lend an hand here please? This is ROS but also HIL related, the problem seems to be related to some rotation, probably coming from the sim side (as the rotations and frame transforms were already used and tested on mavros side - I can assume it may be a misconception about body frame transforms and wrt on the V-REP script). @mzahana can you please post here your latest Lua script of V-REP so it can be evaluated by all?

@vooon vooon modified the milestones: Version 0.20, Version 0.19 Apr 29, 2017
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TSC21 commented May 1, 2017

@mzahana did you get a time frame to test V-REP plugin again and solve the problem?

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mzahana commented May 8, 2017 via email

@TSC21 TSC21 closed this Jun 15, 2017
@TSC21 TSC21 reopened this Jun 15, 2017
@TSC21 TSC21 closed this Jun 17, 2017
@TSC21 TSC21 reopened this Jun 17, 2017
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TSC21 commented Aug 10, 2017

@mzahana something interesting about the supposed problem you were getting on the vehicle facing East - you can read on ROS REP 103:

By the right hand rule, the yaw component of orientation increases as the child frame rotates counter-clockwise, and for geographic poses, yaw is zero when pointing east.

So this is not a problem at all, more like a question of convention which results from applying the transforms from NED<->ENU and aircraft<->base_link.

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TSC21 commented Aug 10, 2017

More:

This requires special mention only because it differs from a traditional compass bearing, which is zero when pointing north and increments clockwise. Hardware drivers should make the appropriate transformations before publishing standard ROS messages.

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TSC21 commented Aug 17, 2017

I tested this on V-REP and seemed consistent after some V-REP mods on the Lua script. I'm merging it now, having pendent adding documentation to the PX4 Devguide on how to setup the V-REP model (if someone wants to do that for Ardupilot let me know and I can put it available to it also).
Also, I'll be working on interfacing this with Gazebo, which will can also provide some improvements to the HIL interface of rotors_simulator. Will have it available soon.

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4 participants