gsilano/CrazyS

ROS GAZEBO

hazarD77 opened this issue · 6 comments

hazarD77 commented

Hi, i work on Gazebo with crazyflie and i succeed to open crazyflie files on ROS, the crazyfile is flying but
I couldn't find the file where I can give the target location while the drones are in the air. I want to show target point to drones. How i succeed that?
Thanks...
Best Regards.

welcome commented

Thanks for opening your first issue here! Make sure that no other issues on the same topic have already been opened!

gsilano commented

Please, read #67, #65, #44, #55. If you have other questions, just drop me a message.

hazarD77 commented

Hi, sir
I read and research the subject headings in the #67, #65, #44, #55. Therefore, i want to ask some question. If you answer me, i am glad.

  1. How to transfer our own algorithms to CrazyS files?
  2. How can I achieve this when I want to integrate virtual and real?
  3. Do I need to use a Gazebo environment for Crazyflie Virtual Reality Flight, can I use another simulation program?
    Thanks.
    Best Regards...
gsilano commented

My answers are inline:

  1. What do you mean by your own algorithm? Is it a controller? If so, you need to write your C++ file and include it in the rotors_control/src/library folder. Next, you need to edit the position_controller_node.cpp file to call your controller, and not the standard one in CrazyS. Of course, you have to follow the flow understanding if other changes are required. The line is reported below for your convenience.

    CrazyS/rotors_control/src/nodes/position_controller_node.cpp

    Line 502 in fa36308

    position_controller_.CalculateRotorVelocities(&ref_rotor_velocities);

Finally, you need to include the code in the CMakeList.txt file. Just follow the file for the other libraries, i.e., crazyflie_onboard_controller.cpp, crazyflie_complementary_filter.cpp, and so on.

  1. If you want to fly with the Crazyflie, you can take a look at these two repositories: crazyflie_nmpc and crazyflie_cpp. As far as I know, they are the best to cope with this task.

  2. CrazyS was designed to work with Gazebo. I don't know which robotic simulator you have in mind. However, whatever the simulator, the code requires some changes.

I hope this helps.

stale commented

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

gsilano commented

The controller #86 is not ready to be integrated yet. Issue closed for inactivity.