Controlling hector quadrotor with keyboard

asked 2015-09-15 05:33:33 -0600

boon
111 ●24 ●26 ●33

I am trying to realize mapping of an environment with hector slam. But I cannot find a way to takeoff the quadrotor with keybaord teleop. What keyboard control should be used to takeoff hector?

answered 2015-10-15 14:15:46 -0600

hvpandya
76 ●4 ●4

First of all I hope you are using teleop_twist_keyboard for keyboard teleop.

Now the catch here is this package does not let you control the climb rate (velocity in Z direction) of the quadrotor UAV. A quick fix to test out the demo is to publish a single message on the /cmd_vel topic with a positive velocity-z component and then use keyboard to maneuver the quadrotor:

rostopic pub -1 /cmd_vel geometry_msgs/Twist -- '[0.0, 0.0, 0.3]' '[0.0, 0.0, 0.0]'

Feel free to change the values and test for your specific setup.

A better solution would be to have a simple node publish to cmd_vel. You can also make a custom teleop_node for your specific needs.

Hope this helped, comment if you have any more doubts.

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Comments

thanks it work

M imran ( 2015-11-10 03:35:24 -0600 )edit

My quadrotor still does not takeoff. Can you tell me which node controls the quadrotor exactly using cmd_vel?? ardrone has a separate topic for takeoff and land commands. Doesnt hector_quadrotor have a similar topic?