Behavior simulated drones is different from real drones - Githubissues

cyphyhouse / Cymulator

Simulator for CyPhyHouse project based on Gazebo

University of Illinois/NCSA Open Source License

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Behavior simulated drones is different from real drones #9

Open hc825b opened 5 years ago

hc825b commented 5 years ago

Currently in either cymulator/Drone/goto.py or cym_deivce/cym_waypoint_driver_drone.py

the drone periodically publishes reached topic instead of only publishing when reached a waypoint.
The drone goes to a waypoint without considering the frame id.

The drone should only publishes to reached in following conditions:

True: the drone has reached the waypoint.
False: it is impossible for the drone to reach the waypoint.

The desired way to handle waypoint topic is:

With frame_id=0, queue the waypoint message
With frame_id=1, pop and store all previously queued messages as a path and move accordingly

hc825b commented 5 years ago

In ac951fcecc64642d6033dc6a28e595625f401cd6, reached topic is published only when the drone reach current waypoint.

Still need to handle frame_id