gpldecha's profile - activity

Hi, have recently been trying to control a rover equipped with a Pixhawk2 in an indoor environment.
For this purpose, I have followed the steps outlined in the mavros_offboard tutorial. I also had to change a few parameters on the PX4 firmware to allow the rover to arm without a GPS lock etc..

After running a script similar to the tutorial one, I was able to switch to offboard mode, see below the echo of topic /mavros/state

header: 
  seq: 3105
  stamp: 
    secs: 1503352094
    nsecs: 242159569
  frame_id: ''
connected: True
armed: True
guided: True
mode: OFFBOARD
system_status: 4

However, the mavros node interfacing with the rover is printing the following output:

[ WARN] [1503352273.909538514]: GP: No GPS fix
[ INFO] [1503352280.350340503]: HP: requesting home position

I have tried to set this position with no success.

If any of you have managed to run a px4/apm robot in an offboard mode with no GPS I would be grateful for information on:

1. Telling mavros/pixhawk not to expect a GPS fix

2. Getting the tf topic to publish something (I guess this is related to 1.)

Thanks for any help.

It is part of a larger program which I cannot put here. I detailing the symptoms to see if anyone has encountered someth

Callback not updating class member variable I have encountered a strange problem. I have a standard class class A{ pub

Hi, I am also building a robot with raspberry pi. Let me know of your progress and maybe I can give you some pointers if

I have a urdf model of a human hand in Rviz for which I update its position via my own tf broadcaster. I have noticed that when I move the hand the fingers lag behind the wrist. I am updating the position of the wrist at 100 Hz and in my launch file, I set the parameter of robot_state_publisher to 100 Hz as well.

   <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
    <rosparam param="publish_frequency">100</rosparam>
   </node>

When I look at the rate at wich the tf frames are being published (from rosrun tf view_frames) the update of the palm (first link) is at 100 Hz and the last link "pinky_dof_4" is also updated at 100 Hz. However everything in between is being updated at 10 Hz. I would like to get all links in the URDF to be updated at 100 Hz.

@jayess, not sure either. I will ask on the px4 forum and see if anybody has an idea.

mavros offboard no GPS Hi, have recently been trying to control a rover equipped with a Pixhawk2 in an indoor environmen

mavros offboard no GPS Hi, have recently been trying to control a rover equipped with a Pixhawk2 in an indoor environmen

I have been using the ros_control interface to implement a position controller to use both in Simulation (Gazebo) and on a real robot. My implementation inherits from control_base.h and I implement hardware_interface::PositionJointInterface.

My problem is that I would like to know the frequency of the update rate (base class code shown below) such to perform interpolation between desired and target joint positions such to follow a desired velocity.

 /// Calls \ref update only if this controller is running.
 void updateRequest(const ros::Time& time, const ros::Duration& period)
{
if (state_ == RUNNING)
  update(time, period);
 }

Is there a method that gives me back the update rate of this function (above). Is it in the Time and Duration variables ? I have so fare failed to find a good tutorial which explains in detail the usage of control_base.h etc.. any pointers would be welcome.

Hi have been writing a ros python package with the following structure (I checked my structure against moveit_commander).

 catkin_ws
    |_  src
         |_ python_package
                     |_ bin
                     |_src
                     |   |_ python_package
                     |_ CMakeLists.txt
                     |_ package.xml
                     |_setup.py

When package_python is in the folder src I am able to roscd and roslaunch this package.

However I would like to have package_name inside a root dummy folder python-package. When I do this I am no longer able to roscd, roslaunch, python_package.

 catkin_ws
    |_  src
         |_ python-package
                    |_ python_package

What should I do in order to have my python_package inside python-package and still be to call use it. For a C++ project this is not a problem.