search

PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
8.5k stars 13.51k forks source link

Rover - Aion Robotics R1 UGV issues with executing position setpoints #12990

Closed sarahToonsi closed 5 years ago

sarahToonsi commented 5 years ago

Hi, I was trying to send position waypoints to a differential steering vehicle with the PX4 frame set us : Aion Robotics R1 UGV I am working with a Pixhawk 2 cube and publishing waypoints through mavros to the topic: mavros/setpoint_position/local My vehicle starts to move but it never steers even when the waypoints is to its right or left. It keeps going forward or backward with full throttle and I don't have a clear description to its random movement. I'm working in the lab with a Mocap system and my position settings are fine. The parameters that I changed in Qground control are only for the EKF to use vision instead of GPS and for setting up the companion computer.

julianoes commented 5 years ago

Could you please upload a log to logs.px4.io and link it here? Thanks.

sarahToonsi commented 5 years ago

logs.px4.io

https://logs.px4.io/plot_app?log=04064ce8-7e43-4e3d-af40-d6c098599da2

julianoes commented 5 years ago

FYI @ItsTimmy @Jaeyoung-Lim

Jaeyoung-Lim commented 5 years ago

@sarahToonsi The rover position controller requires you to have a GPS fix. Related issue is #12350

LorenzMeier commented 5 years ago

Original issue captures this already. This is not a real issue but rather a requirement.