Example of commands to the controller
alexbuyval opened this issue · 3 comments
Hi,
Thank you for good work.
I have successfully compiled and run described launch files in the readme. However, I stuck on the following:
You can use rqt to publish commands to the controller.
Are there any examples what should I publish into topics to run the controller?
I guess that I need to publish into /firefly/command/current_reference. Am I right? If so how exactly should I write a trajectory into the message publisher?
Best Regards,
Alex
Hi Alex,
As indicated in the main page of this repo, command/current_reference
is among the published topics of the node, so you can't use this one to input a command.
What you can use to input commands the the controller is either command/pose
or command/trajectory
or rc
. These are topics to which the controller subscribes.
For example, you can use the following command to input a single pose reference point at 1 meter height from the origin:
rostopic pub /firefly/command/pose geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "world"}, pose: {position: {x: 0, y:0, z: 1}, orientation: {w: 1.0}}}'
Regards,
Marco.
Thank you, Marco!
Alex
For anyone who tried @marco-tranzatto 's command and faced an issue, there is a small typo (The space after y's colon in 'position' is missing)
The correct command should be:
rostopic pub /firefly/command/pose geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "world"}, pose: {position: {x: 0, y: 0, z: 1}, orientation: {w: 1.0}}}'
Also note that you will need to start the simulation by calling unpause_physics
service by
rosservice call /gazebo/unpause_physics