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DentOpt / denmpc

An event-based on-line adaptable fast nonlinear model predictive control framework
http://wiki.ros.org/denmpc
GNU General Public License v3.0
25 stars 8 forks source link

no cmd_vel published #8

Closed benjaminabruzzo closed 6 years ago

benjaminabruzzo commented 6 years ago

Have you tested the posted version of this code as-is? I just tried it on a different computer and an actual AR.Drone, but it still crashes. The only change I made was the scenario.cpp file to use the topics that are relevant to my system.

If that is the only change, then I still get the stack smashing error in the constraint functions.

If I comment out the constraints then the mpc runs, but it does not generate any command messages for the UAV, all is publishes is the zero-zero-zero blank message instructing the AR.Drone to hover.

I don't think it is my configuration, but I am not sure what it issue is. It seems like the other people trying your code seem to be successful.

BernhardUAV commented 6 years ago

Hello Benjamin,

In order to publish the messages I enabled the scheduler.run_control(0.01); in scenario.cpp:

/** Initialize Scheduler **/ Scheduler scheduler(argc,argv,controllerlist, eventlist); // scheduler.run_vrep(0.01); //scheduler.run_simulation(0.1,10); scheduler.run_control(0.01);

Unfortunately I have similar problems with the constrains, which make the control of the UAV really hard.

DentOpt commented 6 years ago

Hi, thanks to you both for your feedback and sorry for the late response! I have originally tested the package on my system, but I will try to test the system tomorrow on another system and give you an update.

Best regards, Jan

benjaminabruzzo commented 6 years ago

This is addressed by issue #9