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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

Has anyone else successfullly used this code to control an AR.Drone? #9

Closed benjaminabruzzo closed 5 years ago

benjaminabruzzo commented 5 years ago

I can't seem to get this code to work with either a real AR.Drone nor simulated in Gazebo. Has anyone else been successful?

DentOpt commented 5 years ago

Hi, I will try it tomorrow on another system and give you a heads up. Best regards, Jan

benjaminabruzzo commented 5 years ago

Thanks. I’ll be trying it on a new install of 14.04.5 and ROS Indigo today. Up until now I’ve been working on a 16.04.4/kinetic configuration.

Benjamin

On Oct 23, 2018, at 1:30 PM, Jan Dentler notifications@github.com wrote:

Hi, I will try it tomorrow on another system and give you a heads up. Best regards, Jan

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub, or mute the thread.

DentOpt commented 5 years ago

Hi, to give an update. I am currently trying to validate in the following setup: WSL - ros melodic - gazebo 7 - tum ardrone simulator. However, I ran into issues to install the tum simulator, but I hope to give you a heads up today, latest tomorrow.

DentOpt commented 5 years ago

I tested the code successfully with the tum ardrone simulator. You can find the used package I have used under: https://github.com/DentOpt/ardrone_simulator_gazebo7

Unfortunately, I could not get Gazebo running on the WSL. Therefore, I tested on indigo with gazebo 4. Regarding the constraint error: In the autogenerated code, the from the code generator automatically generated variables e.g. double o[12] did have the wrong array sizes which lead to segmentation fault errors. I furthermore resolved the initial start-up issues that benjaminabruzzo mentioned by modifying Ardrone_20170227.cpp. In addition, I added two scenarios: 

ardrone_sensor_tracking.cpp
ardrone_pose_tracking.cpp

which can directly be used for controlling the ardrone of the ardrone_simulator_gazebo7 package (Check the readme there for more detailed information).

Does this solve your problems? Best regards, Jan

benjaminabruzzo commented 5 years ago

I will take a look at these today (if I have time) or definitely tomorrow and let you know. Thank you so much for debugging this.

benjaminabruzzo commented 5 years ago

Worked like a charm.