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hector_quadrotor: how does quadrotor_simple_controller runs?

asked 2013-09-03 15:15:39 -0500

yclin gravatar image

Hi Everyone: In the link http://wiki.ros.org/hector_quadrotor_controller?distro=fuerte, it says Simple Quadrotor Controller plugin implements the controller of the quadrotor. But I do not understand how it runs as a plugin. It seems that it is not compiled and linked into a node, but Gazebo automatically starts it because quadrotor_simple_controller.urdf.xacro was included somewhere in a launch file. I wonder if some one can give me an idea of how it runs? Thank you in advance

Kind Regards Yucong

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answered 2013-09-12 22:29:23 -0500

The wiki pages of the hector_quadrotor stack were a bit outdated, as we moved some plugins from one package to another during the transition from fuerte to groovy to hydro. I am sorry. I updated the wiki a couple of minutes ago.

You will find the simple controller plugin for Gazebo in the hector_quadrotor_gazebo_plugins package now. The plugin does not invoke a real controller that outputs motor voltages, but only generates pseudo forces and torques that make the simulated quadrotor look and behave like a real one.

The hector_quadrotor_controller package was originally meant for our more fancy real-time controller also running on the real vehicle, but I have not found the time yet to integrate it in gazebo properly.

Please add comments here if there are further questions.

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Thanks Johannes, it resolve my doubts

yclin gravatar image yclin  ( 2013-10-03 19:48:41 -0500 )edit

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Asked: 2013-09-03 15:15:39 -0500

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Last updated: Sep 12 '13