Is there another way to command the quadrotor than publishing velocities ?

asked 2018-05-09 05:32:17 -0500

Chawki gravatar image

updated 2018-05-09 07:36:22 -0500

Hi, I'm simulating a simulink quadrotor command on Gazebo ( hector_quadrotor package), my command vector is composed from a thrust and three torques, when I publish them on the /command_wrench topic, the quadrotor doesn't respond , however, when I keep the quadrotor dynamic system in simulink and publish its velocities on gazebo, the quadrotor responds but doesn't really track the trajectory !

My question is: Is there another way to command the quadrotor by publishing the "thrust and torques" or the "motors velocities" instead of publishing linear and angular velocities on the /cmd_vel topic ? Or, is there a relation linking the "thrust and the torques" or "motors velocities" to the linear and angular velocities of the quadrotor, so that I can use it to generate the velocities without using the quadrotor dynamic block wich creates delay on the command ?

Thank you in advance !

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