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Setting GPS waypoints in tum_simulator

asked 2016-02-26 06:35:21 -0600

djdmorrison gravatar image

From the following tutorial: I've been able to simulate flying an ardrone in gazebo. I can receive gps coordinates/ latitude from the /fix rostopic. However, I can't see a way to set gps-waypoints?

I've tried using the gps-waypoint branch of ardrone_autonomy and enabling nav_data_gps in a number of places in the launch files but nothing seems to work.

Is this possible?

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did u solve that autopilot problem? if so, could u tell me how please?

Trinto gravatar image Trinto  ( 2016-07-22 07:29:32 -0600 )edit

I didn't unfortunately. I ended up using the x and y coordinates of the drone as if they were lat-lng coordinates and manually moving towards points by rotating towards the correct direction and moving forward manually.

djdmorrison gravatar image djdmorrison  ( 2016-07-22 08:51:08 -0600 )edit

This was only really a solution as I was flying in straight lines and rotating at right angles however. I'm sure you could work out more complex flight paths using a bit of maths though.

djdmorrison gravatar image djdmorrison  ( 2016-07-22 08:51:38 -0600 )edit

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answered 2016-08-11 11:42:01 -0600

Pickman gravatar image

I've done precisely that a few months ago. I managed to create a separate controller that publishes appropriate velocity commands to the topic and reads the position. So you would have to create a closed loop. As far as I know there are no libraries for autonomous flight compatible with tum_simulator.

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Asked: 2016-02-26 06:35:21 -0600

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Last updated: Aug 11 '16