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ros sim: use ardrone model

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This commit is contained in:
Thomas Gubler
2015-01-10 19:14:23 +01:00
parent aa8555c02b
commit 6580d66d45
4 changed files with 8 additions and 8 deletions
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2
launch/gazebo_multicopter.launch
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@@ -1,6 +1,6 @@
<launch> <launch>
<include file="$(find mav_gazebo)/launch/vtol_empty_world_with_joy.launch" /> <include file="$(find mav_gazebo)/launch/ardrone_empty_world_with_joy.launch" />
<include file="$(find px4)/launch/multicopter.launch" /> <include file="$(find px4)/launch/multicopter.launch" />
</launch> </launch>

6
launch/multicopter.launch
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@@ -14,9 +14,9 @@
<param name="MC_ROLLRATE_D" type="double" value="0.0" /> <param name="MC_ROLLRATE_D" type="double" value="0.0" />
<param name="MC_PITCHRATE_P" type="double" value="0.05" /> <param name="MC_PITCHRATE_P" type="double" value="0.05" />
<param name="MC_PITCHRATE_D" type="double" value="0.0" /> <param name="MC_PITCHRATE_D" type="double" value="0.0" />
<param name="MC_YAW_FF" type="double" value="0.0" /> <param name="MC_YAW_FF" type="double" value="0" />
<param name="MC_YAW_P" type="double" value="1.0" /> <param name="MC_YAW_P" type="double" value="5.0" />
<param name="MC_YAWRATE_P" type="double" value="0.2" /> <param name="MC_YAWRATE_P" type="double" value="0.5" />
<param name="MC_MAN_R_MAX" type="double" value="10.0" /> <param name="MC_MAN_R_MAX" type="double" value="10.0" />
<param name="MC_MAN_P_MAX" type="double" value="10.0" /> <param name="MC_MAN_P_MAX" type="double" value="10.0" />
</group> </group>

6
src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp
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@@ -47,7 +47,7 @@
AttitudeEstimator::AttitudeEstimator() : AttitudeEstimator::AttitudeEstimator() :
_n(), _n(),
// _sub_modelstates(_n.subscribe("/gazebo/model_states", 1, &AttitudeEstimator::ModelStatesCallback, this)), // _sub_modelstates(_n.subscribe("/gazebo/model_states", 1, &AttitudeEstimator::ModelStatesCallback, this)),
_sub_imu(_n.subscribe("/vtol/imu", 1, &AttitudeEstimator::ImuCallback, this)), _sub_imu(_n.subscribe("/ardrone/imu", 1, &AttitudeEstimator::ImuCallback, this)),
_vehicle_attitude_pub(_n.advertise<px4::vehicle_attitude>("vehicle_attitude", 1)) _vehicle_attitude_pub(_n.advertise<px4::vehicle_attitude>("vehicle_attitude", 1))
{ {
} }
@@ -60,7 +60,7 @@ void AttitudeEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstP
/* Convert quaternion to rotation matrix */ /* Convert quaternion to rotation matrix */
math::Quaternion quat; math::Quaternion quat;
//XXX: search for vtol or other (other than 'plane') vehicle here //XXX: search for ardrone or other (other than 'plane') vehicle here
int index = 1; int index = 1;
quat(0) = (float)msg->pose[index].orientation.w; quat(0) = (float)msg->pose[index].orientation.w;
quat(1) = (float)msg->pose[index].orientation.x; quat(1) = (float)msg->pose[index].orientation.x;
@@ -103,7 +103,7 @@ void AttitudeEstimator::ImuCallback(const sensor_msgs::ImuConstPtr &msg)
/* Convert quaternion to rotation matrix */ /* Convert quaternion to rotation matrix */
math::Quaternion quat; math::Quaternion quat;
//XXX: search for vtol or other (other than 'plane') vehicle here //XXX: search for ardrone or other (other than 'plane') vehicle here
int index = 1; int index = 1;
quat(0) = (float)msg->orientation.w; quat(0) = (float)msg->orientation.w;
quat(1) = (float)msg->orientation.x; quat(1) = (float)msg->orientation.x;

2
src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
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@@ -111,7 +111,7 @@ const MultirotorMixer::Rotor *_config_index[3] = {
MultirotorMixer::MultirotorMixer(): MultirotorMixer::MultirotorMixer():
_n(), _n(),
_rotor_count(4), _rotor_count(4),
_rotors(_config_index[2]) //XXX + eurocconfig hardcoded _rotors(_config_index[0]) //XXX hardcoded
{ {
_sub = _n.subscribe("actuator_controls_0", 1, &MultirotorMixer::actuatorControlsCallback, this); _sub = _n.subscribe("actuator_controls_0", 1, &MultirotorMixer::actuatorControlsCallback, this);
_pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands", 10); _pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands", 10);