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Quadrotor navigation in gazebo

asked 2016-11-11 14:27:09 -0500

Siddharth gravatar image

I am a beginner user of gazebo, and am confused how to navigate my quadrotor. I have used hector_quadrotor package. I tried using rosrun pr2_teleop teleop_pr2_keyboard (after installing pr2_teleop package), but it still gives error "Pr2_teleop" package not found. Is there some other easier way to navigate/control the quadrotor model?

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answered 2016-11-13 02:10:39 -0500

Ajith kumar gravatar image

updated 2016-11-13 02:12:04 -0500

Try running

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

(To install : sudo apt-get install ros-$YOURDISTRO$-teleop-twist-keyboard)

It should work now. It will give additional yaw control. Or else, You can create a separate node which publishes /cmd_vel topic so that the quad can use to navigate. If you can't create a node, publish the velocity using "rostopic pub" utility

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

This will give linear vertical velocity. To check: Use rqt_plot. Make sure that your initiated node publishes the /cmd_Vel topic to Gazebo model.

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Asked: 2016-11-11 14:27:09 -0500

Seen: 142 times

Last updated: Nov 13 '16