erha527/ecbf_bodyrate

Ecbf_bodyrate

Description

• Ecbf contraints on quadrotor bodyrate

Methods

• ECBF
• Hildreth QP solver

The codes are based on the frame of (https://github.com/Jaeyoung-Lim/mavros_controllers)

Start

cd ecbf_omega/ 
catkin_make
source devel/setup.bash
cd src/mavros_controllers/geometric_controller/launch/
roslaunch sitl_trajectory_track_circle.launch

Topics

Geometric controller publishes and subscribes the following topics.

• Published Topics

  • command/bodyrate_command ( mavros_msgs/AttitudeTarget )
  • reference/pose ( geometry_msgs/PoseStamped )

• Subscribed Topics

  • reference/setpoint ( geometry_msgs/TwistStamped )
  • /mavros/state ( mavr0s_msgs/State )
  • /mavros/local_position/pose ( geometry_msgs/PoseStamped )
  • /gazebo/model_states( gazebo_msgs/ModelStates )
  • /mavros/local_position/velocity( geometry_msgs/TwistStamped )

Trajectory publisher publishes continous trajectories to the trajectory_controller.

• Parameters

  • /trajectory_publisher/initpos_x (default: 0.0)
  • /trajectory_publisher/initpos_y (default: 0.0)
  • /trajectory_publisher/initpos_z (default: 1.0)
  • /trajectory_publisher/updaterate (default: 0.01)
  • /trajectory_publisher/horizon (default: 1.0)
  • /trajectory_publisher/maxjerk (default: 10.0)
  • /trajectory_publisher/trajectory_type (default: 0)
  • /trajectory_publisher/number_of_primitives (default: 7)
  • /trajectory_publisher/shape_radius (default: 1.0)

• Published Topics

  • reference/trajectory ( nav_msgs/Path )
  • reference/setpoint ( geometry_msgs/TwistStamped )

• Subscribed Topics

  • /trajectory_publisher/motionselector (std_msgs/int32);
  • /mavros/local_position/pose ( geometry_msgs/PoseStamped )
  • /mavros/local_position/velocity( geometry_msgs/TwistStamped )