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Drone keeps rising (in simulation) after takeoff.

asked 2018-01-31 22:43:18 -0600

malharjajoo
121 ●23 ●31 ●37

Hi,

I am currently using the tum_simulator + ROS + gazebo to run a simulation for the Parrot A.R. drone 2.0.

When I publish the takeoff message ( rostopic pub -1 /ardrone/takeoff std_msgs/Empty ) the drone rises ( in the gazebo simulation) but doesn't stop. I can't make it stop even by pressing the "lower z-velocity" (rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.0, y: 0.0, z: -1.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}') command. (These commands have been taken from official tum_simulator ROS wiki page here ) ( And yes, I am keeping the teleoperation terminal active so I can see my commands work but the drone keeps rising )

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answered 2018-01-31 22:57:11 -0600

jayess
6155 ●26 ●85 ●92

Apparently, others have had this problem too and the solution was to install some hector packages:

sudo apt-get install ros-kinetic-hector-gazebo
sudo apt-get install ros-kinetic-hector-sensors-gazebo
sudo apt-get install ros-kinetic-hector-xacro-tools