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ethz-asl / asctec_mav_framework

Framework for data aquisition and position control to be used with the highlevel processor of Ascending Technologies helicopters
http://www.ros.org/wiki/asctec_mav_framework
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asctrec_hl_interface Tutorial Problem #38

Closed ghost closed 9 years ago

ghost commented 9 years ago

Hello

on the pelican mastermind I have roslaunch ptam ptam.launch roslaunch asctec hl interface fcu.launch Iin fcu parameters launch iv set state_estimation to "HighLevel_SSDK position_control = "HighLevel"

rosrun asctec hl interface waypoint server iv remapped from /vslam/pose_world to /fcu/pose in the ptam.launch.

on the borund pc i following the tutorial on remote launching of ptam described here http://wiki.ros.org/ethzasl_ptam/Tutorials/remote_ptam in the dynamic_reconfigure gui i have unchecked listen on_tf

rostopic echo /fcu/pose gives the geometry_msgs/PoseWithCovarianceStamped form the ETHZASL_PTAM completed allthe sanity checks here http://wiki.ros.org/asctec_hl_interface/Tutorials/hlp%20position%20control

but STIIL The pelican does not readch the desired hight position descried by the rosrun ascec_hl_interface waypoint client

rether it goes completely out of control

perhaps im missing something

thanks Farhan

ghost commented 9 years ago

Hi In the dynamic reconfigue gui in fcu parametes all the parametes are same as the fcu_parameters.yaml file except for the position control and state_estimation they are OFF. Although i set
fcu/state_estimation: "Highlevel_SSDK" fcu/position_control: "HighLevel" does anyoune know why these parametrs are not sent / accepted by the HLP Thanks Farhan

ghost commented 9 years ago

I managed to setup the position control setup as follows selection_002

when i see rosrun asctec_hl_interface polt_position_input /fcu/dedug/data[22] should be x-axis value but when i move pelican in y-axis it changes (according to ROS coordinate frames x-forward, y-left, z-up) /fcu/dedug/data[23] should be y-axis value but when i move pelican in x-axis it changes

where as the asctec coordinate frames are 68747470733a2f2f662e636c6f75642e6769746875622e636f6d2f6173736574732f363036323735372f313634323631372f38313666366137632d353839302d313165332d383062322d6439666431636661663335362e706e67

do ineed to do any transformations or remappings to correct the HLP position inputs? because when i give waypoints by the waypoint client like 0 0 0.1 x x for altitude control the pelican just goes out of control.

Hoping for a reply soon Thanks Farhan

stephanweiss commented 9 years ago

Did you try to use the controller with Highlevel_EKF instead of Highlevel_SSDK? Not sure what state the code of Highlevel_SSDK is at the moment. Highlevel_EKF should work if you follow the tutorials of asctec_mav_framework, ethzasl_ptam, and ethzasl_sensor_fusion.

Hope that helps.