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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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Hovering tutorial #6

Closed unielargentim closed 11 years ago

unielargentim commented 11 years ago

Hello.

I have tried to follow the hovering tutorial published in http://www.ros.org/wiki/asctec_hl_interface/Tutorials/hlp%20position%20control

As recommended, I checked all the sanity tests before flying Pelican. I tried to run rosrun asctec_hl_interface plot_position_input (without using any namespace, otherwise it wouldn't accept). Nothing changes when moving the quad-copter around.

Here is what is shown: asctec@pelican:~$ rosrun asctec_hl_interface plot_position_input

plotting position input x, y, z [m] in NED coordinates !!!

plotting topics /fcu/debug/data[22], /fcu/debug/data[23], /fcu/debug/data[3] /usr/lib/pymodules/python2.7/matplotlib/axes.py:2667: UserWarning: Attempting to set identical bottom==top results in singular transformations; automatically expanding. bottom=0.0, top=0.0

Any suggestions ?

Att.

markusachtelik commented 11 years ago

Hi,

what are you using as position input, i.e. as input for fcu/pose ? Is the remapping correct? If this plot doesn't show anything, that means there is no external position input arriving at the HLP.

unielargentim commented 11 years ago

Thanks for the reply!

I don't think I have set those parameters. The only thing I did was run the fcu.launch and check the sanity checks. Is there any other set up I need to do before flying with waypoints?

markusachtelik commented 11 years ago

Before attempting any waypoint flying, you need something measuring / estimating your current pose, like Vicon, (visual) SLAM, ar-tags etc. Then, you connect this to the fcu/pose topic. The ssdk will then estimate a velocity in addition and performs position control based on this information.

unielargentim commented 11 years ago

Can I do that only with the Pelican hardware? i.e. IMU data, Camera images, GPS?

markusachtelik commented 11 years ago

you can do that, yes. There is a tutorial that gives a good overview http://www.ros.org/wiki/ethzasl_sensor_fusion/Tutorials/sfly_framework, but you should also do the preceding tutorials, you can find the links there.

unielargentim commented 11 years ago

Ok, thank you for the tips. I'll give it a try!

Best regards.