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Jaeyoung-Lim / mavros_controllers

Aggressive trajectory tracking using mavros for PX4 enabled vehicles
BSD 3-Clause "New" or "Revised" License
412 stars 166 forks source link

reference pose #171

Closed dedyebhi closed 3 years ago

dedyebhi commented 3 years ago

how to add a reference pose?

Jaeyoung-Lim commented 3 years ago

@dedyebhi If you are asking about the geometric_controller it does not have a reference pose, since it is tracking differentially flat outputs (see paper linked in readme)

You can look at how the trajectory_publisher is passing its reference to the geometric_controller if you want to check how the reference is being passed