How to overwrite the constraints

[lidiaxp]

I am trying to use the fast mode, but I am not able to overwrite the default constraints configurations (after take off), it is using the medium mode:

horizontal_speed: 4.0
horizontal_acceleration: 2.0
horizontal_jerk: 40.0
horizontal_snap: 40.0
vertical_ascending_speed: 2.0
vertical_ascending_acceleration: 1.0
vertical_ascending_jerk: 40.0
vertical_ascending_snap: 40.0
vertical_descending_speed: 2.0
vertical_descending_acceleration: 1.0
vertical_descending_jerk: 40.0
vertical_descending_snap: 40.0
heading_speed: 1.0
heading_acceleration: 1.0
heading_jerk: 20.0
heading_snap: 20.0
roll_rate: 60.0
pitch_rate: 60.0
yaw_rate: 10.0
tilt: 1.0471975511965976

I am trying to modify it in the config files, more specific in the custom_config.yaml, with this file:

mrs_uav_managers:
  estimation_manager:
    state_estimators: [
      "gps_baro",
    ]

    initial_state_estimator: "gps_baro" 
    agl_height_estimator: "" 

  uav_manager:

    takeoff:

      after_takeoff:
        controller: "MpcController"
        constraints: "fast"

      takeoff_height: 10.0

      constraint_management:

        fallback_constraints:
      
            gps_baro: "fast"

mrs_uav_trajectory_generation:

  max_time: 0.5 # [s]

  check_trajectory_deviation:
    max_deviation: 0.20 # [m]

  path_straightener:
    enabled: true
    max_deviation: 0.20 # [m]

But, in the simulation, the topic /uav1/control_manager/current_constraints shows the medium constraints. I am doing these tests in mrs_octomap_mapping_planning example with default values in the other config files. How could I modify these constraints to use the fast one? Or even a customized constraint?

Thank you very much for your help

[klaxalk]

Hey Lidia, the "constraint_management" block does not go under the "uav_manager", but "constraint_manager". So

mrs_uav_managers:

  constraint_manager:

    default_constraints:
      gps_garmin: "slow"
      gps_baro: "slow"

[lidiaxp]

Thanks Tomáš, it worked. Where can I find the a file with the default configurations? I would like to learn the structure of the config files.

[klaxalk]

Thanks Tomáš, it worked. Where can I find the a file with the default configurations? I would like to learn the structure of the config files.

Thanks. https://ctu-mrs.github.io/docs/system/custom_configs.html, long story short: call rosrun mrs_uav_core get_public_params.py which will extract all the user-configurable parameters and print them in the terminal.

[lidiaxp]

Thank you very much