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KumarRobotics / kr_mav_control

Code for quadrotor control
BSD 3-Clause "New" or "Revised" License
106 stars 42 forks source link

mavros interface for trajectory tracker #147

Closed shubham-shahh closed 8 months ago

shubham-shahh commented 2 years ago

Hi, I want to pass the SO3 command to the FCU via mavros, I checked the AttitudeTarget message, but that message only supports normlised thrust in z-axis, but SO3Command has forces in x, y and z axis. how can I convert SO3Command to Attitude target message @kartikmohta

thanks

jessweakly commented 1 year ago

This is an old thread so hopefully you have gotten the info you need, but I'm putting a response here in case someone has the same question.

This should be handled already in kr_mavros_interface. Check out line 123 in particular. You will need to update the kf parameter based on your robot. https://github.com/KumarRobotics/kr_mav_control/blob/master/interfaces/kr_mavros_interface/src/so3cmd_to_mavros_nodelet.cpp

fcladera commented 8 months ago

Thanks @jessweakly!!