Follow a trajectory with Hector quadrotor
Dear All
I am using Hector_quadrotor and was able to connect it to Octomap. The idea is to use the Teleop mode to explore the space and then generate a trajectory to go back to the initial position automatically.
I am able to create a path using RRT* and from there a polynomial trajectory.
I am a bit stuck in the sense that I need to develop a module to execute the trajectory and I do not know how to do it:
- There are three controlers available (velocity, attitude and position) and my guess is that I need to use the position controler and publish geometrymsg/poseStamped and geometrymsg/twist
- If so I need to tanslate the trajectory into such messages, and somebody can tell me how to do it?
- Is it easier to work with a set of waypoints (use the output of the RRT* directly)?
- another question regarding the controlers, looks like there are independant in the sense that the ouptut of the position controler are not used by the attitude controler for instance. Am I right?
Thank you for reading
Asked by fabriceN on 2017-09-13 10:26:39 UTC
Comments
You may have better luck getting help if you break this into 4 questions (one per bullet point).
Asked by jayess on 2017-09-15 13:18:03 UTC
If you are still interested, I will try to answer your questions:
Asked by tahsinkose on 2018-09-16 15:25:35 UTC
4.You are right. They generally publish to different topics.
EDIT after 2 years time: No, they are adjusted in a cascaded setting. Such that the output of position controller is used as the input of velocity controller, which outputs attitude, yawrate and thrust; ultimately used as input by the attitude controller to generate a wrench command. This wrench command is read by the Gazebo controller and the quadrotor model is updated accordingly.
Asked by tahsinkose on 2018-09-16 15:27:02 UTC