Closed ghost closed 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
I managed to setup the position control setup as follows
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
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
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.
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