Closed Irrelev4nt13 closed 5 months ago
Hi,
Sure, just launch cascaded_pids_launch.py
with option sliders:=False
.
The PIDs will still subscribe to cmd_pos
and cmd_vel
except that no node will be publishing them.
Note that PID tuning is approximate, the goal is to let people test their controllers or path trackers.
So I should make sure that both cmd_pos
and cmd_vel
get the necessary values in order for the bluerov to go into a specific location and stop there?
I executed the previous script, which contained only PoseStamped messages, and the robot didn't go to the position either stopped somewhere. I'm guessing it's due to the lack of cmd_vel
.
Probably auv_control
lacks documentation.
You have to fill the header.frame_id
to indicate in which frame the reference pose is defined. Typically this would be world
but there are applications where the reference pose is relative to another frame.
Note that if you give bluerov2/base_link
then you can never reach the reference unless it is null.
I had defined the frame: msg.header.frame_id = "world"
so probably it's something else.
Hello, I installed the PID Controller as you mentioned in the instructions. Everything is working perfectly. I'm able to move the robot through the GUI both in position and orientation. I tried to take full control through another script but I was unsuccessful. I tried publishing a PoseStamped message but the pid launch was overwriting my messages due to faster publishing time.
Is it possible somehow to launch the pid controller because it provides the all the necessary tools for the thrusters but be able to send my messages for PoseStamped and TwistStamped?. Ideally I would like to only send PoseStamped messages and the TwistStamped being calculated like in pid controller.
Thanks in advance