magiccjae's profile - activity

Experimental Velodyne VLP16 for 2D mapping My end goal is to generate indoor 3D map along with LiDAR point cloud. I was

@fabriceN My solution was what is on "UPDATE" and I am not too sure what is going on with "pixhawk2.1".

navsat_transform_node outputs I am trying to use robot_localization package to fuse GPS and IMU to localize a robot. Fi

robot_localization covariance grows too big I am trying to localize using GPS+IMU only. For now, I am running test1.bag

robot_localization covariance grows too big I am trying to localize using GPS+IMU only. For now, I am running test1.bag

robot_localization covariance grows too big I am trying to

robot_localization covariance grows too big I am trying to

Background

I am trying to use OFFBOARD control mode using px4 firmware and haven't decided if I want to publish my command to /setpoint_velocity/cmd_vel topic or /setpoint_position/local topic. I would like to develop a system so that I can command my quadrotor to move forward, backward, and yaw rate while quadrotor is holding its altitude.

Question

1. How exactly MAV_FRAME_LOCAL_NED work? Where is the origin of this frame?

2. When I command /setpoint_velocity/cmd_vel, if I give 0 to its linear.z value, would it be enough for the quadrotor to hold its altitude?

3. When I command /setpoint_velocity/cmd_vel, linear.x, linear.y, and linear.z commands are aligned with the quadrotor body frame or LOCAL_NED frame? (I think the latter is the answer, but I just want to make sure).

Thank you in advance for any help !

'''/setpoint_velocity/cmd_vel''' doesn't hold its altitude by my experience. Thanks for the comment !

Have you figured out how to give both position and velocity command at the same time?

How does MAV_FRAME_LOCAL_NED work? Background I am trying to use OFFBOARD control mode using px4 firmware and haven't d

Thanks vooon, I figured out what I was doing wrong.

Hi,

Simply, I am just trying to get sensor data from telem2 port of pixhawk to computer using PX4 firmware.

I set SYS_COMPANION to 57600.

When I launch, I use roslaunch mavros px4.launch fcu_url:="/dev/ttyUSB0:57600" and rostopic echo /mavros/imu/data doesn't show any message. When I connect to micro USB port of Pixhawk, I get all the sensor data just fine.

What am I missing? I looked many places online and other people seem to do this no problem, but no one really walks through the process in detail. I would really appreciate any help !

Hi,

I am just trying to get all sensor data from Pixhawk using PX4 firmware from telem2 port to computer.

I set SYS_COMPANION 57600 and

when I launch, my command is roslaunch mavros px4.launch fcu_url:="/dev/ttyUSB0:57600".

I don't see any message coming through when I do, for example rostopic echo /mavros/imu/data.

Am I missing something to make this work? I looked a lot of places online and it seems like other people can do this no problem, but no one really explains the process in detail. I am using ROS kinetic and mav_ros in kinetic as well. I would really appreciate if someone can guide me further !

UPDATE

I used to use 5V to telem2 port to power on and use UART at the same time (assuming that UART is tolerant to 5V because I read it from somewhere online). However, I just realized that 5V didn't work for the UART of the telem2 port. It has to be 3.3V connected to telem2 port and power to turn on Pixhawk needs to come to different port. I spent several hours to make this work and hopefully this saves some of your time.