hectorquad: `/cmd_vel` not working

AbdealiLoKo / quadrotor_control

A ros metapackage holding packages for quadrotor control

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hectorquad: `/cmd_vel` not working #21

Closed AbdealiLoKo closed 9 years ago

AbdealiLoKo commented 9 years ago

/cmd_vel doesnt seem to be able to control the robot - I think it worked before ... but apparently doesnt work anynmore

AbdealiLoKo commented 9 years ago

The reason for this is that the message (geometry_msgs::Twist) being sent into cmd_vel's rostopic is a local variable. It seems that the publish function is asynchronous - and so it needs the variable to exist even after it is being called. Making this into a class variable solves the problem.

AbdealiLoKo commented 9 years ago

A few more notes:

In current pegasus implementation - the max vels are +/-5 - this is insufficient to overcome gravity - hence the bot will always go down.
This is the issue that made the sarsa weird sometimes. Its highly non deterministic because of memory clearing and stuff

AbdealiLoKo commented 9 years ago

Sorry - seems like I was mistaken this is not an issue. I ran the program multiple times - and sometimes forgot to make it ... So, Had erroneous observations.

The problem is simply that the velocities given by pegasus were too small to oversome gravity

kunalgrover05 commented 9 years ago

Doesn't seem so. I tried running with z_vel=1 and it still goes up.