im using PTAM as pose senor
in sanity check rosrun asctec_hl_interface plot_filter_bias
i got biases converged to -0.6 which is very high as they should be within +- 0.1 range.
so changed the the ploes to poles = [-15,-3,-0.2]; in matlab which gave L= 18.2000 48.6000 9.0000
i plugged theses values for X/Y and Z in SSDk_Parameters
now i get
and velocities as
in fcu_parameters.launch i have
state_estimation = Highlevel_SSDK
position_control = Highlevel
when i send the waypoint for altitude control by action server
rosrun asctec_hl_interface waypoint_client 0 0 0 0
[ INFO] [1431522180.075479358]: Waiting for action server to start.
[ INFO] [1431522180.341946560]: Action server started, sending goal.
[ INFO] [1431522180.342263665]: Goal just went active
[ INFO] [1431522180.342422453]: got feedback: -0.101562m -0.193359m 1.642578m -0.447623??
[ INFO] [1431522180.842616268]: got feedback: -0.101562m -0.199219m 1.642578m -0.447623??
[ INFO] [1431522181.342516976]: got feedback: -0.099609m -0.199219m 1.642578m -0.447623??
[ INFO] [1431522181.842562703]: got feedback: -0.099609m -0.191406m 1.642578m -0.447623??
[ INFO] [1431522182.342428811]: got feedback: -0.101562m -0.197266m 1.640625m -0.447623??
*Hello Im following the tutrilal for hlp position control http://wiki.ros.org/asctec_hl_interface/Tutorials/hlp%20position%20control
im using PTAM as pose senor in sanity check rosrun asctec_hl_interface plot_filter_bias i got biases converged to -0.6 which is very high as they should be within +- 0.1 range.
so changed the the ploes to poles = [-15,-3,-0.2]; in matlab which gave L= 18.2000 48.6000 9.0000
i plugged theses values for X/Y and Z in SSDk_Parameters now i get
and velocities as
in fcu_parameters.launch i have state_estimation = Highlevel_SSDK position_control = Highlevel
when i send the waypoint for altitude control by action server rosrun asctec_hl_interface waypoint_client 0 0 0 0 [ INFO] [1431522180.075479358]: Waiting for action server to start. [ INFO] [1431522180.341946560]: Action server started, sending goal. [ INFO] [1431522180.342263665]: Goal just went active [ INFO] [1431522180.342422453]: got feedback: -0.101562m -0.193359m 1.642578m -0.447623?? [ INFO] [1431522180.842616268]: got feedback: -0.101562m -0.199219m 1.642578m -0.447623?? [ INFO] [1431522181.342516976]: got feedback: -0.099609m -0.199219m 1.642578m -0.447623?? [ INFO] [1431522181.842562703]: got feedback: -0.099609m -0.191406m 1.642578m -0.447623?? [ INFO] [1431522182.342428811]: got feedback: -0.101562m -0.197266m 1.640625m -0.447623??
asctec@mastermind:~$ rosrun asctec_hl_interface waypoint_client 0 0 1.7 0 0.1
The pelican just goes out of control. !!!
Any help?
Thanks Farhan