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gsilano / CrazyS

CrazyS is an extension of the ROS package RotorS, aimed to modeling, developing and integrating the Crazyflie 2.0
Apache License 2.0
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Is it possible to control the acceleration and rpm of individual rotors, there Thrust ? #106

Open vbalaji21 opened 6 months ago

vbalaji21 commented 6 months ago

I would like to know the possibilities of the framework. Please let me know the possibility of controlling the thrust, acceleration and rpm of the rotors.

I am looking forward for your answer.

welcome[bot] commented 6 months ago

Thanks for opening your first issue here! Make sure that no other issues on the same topic have already been opened!

gsilano commented 6 months ago

Hi there! To adjust the motor velocities, you can modify the time_constant_up and time_constant_down variables in the crazyflie2_forster.xacro file located under rotors_description/urdf. Additional details can be found in the reference publications provided in the Wiki section of this repository.

vbalaji21 commented 6 months ago

@gsilano Thank you I have been reading your paper and also wiki. I was able to move hexarotors using waypoints (waypoint publisher node).

I encountered 2 things and I would like to know about it -

  1. Is it possible to give a trajectory for the Hexa or quadrotors instead of time waypoints ?
  2. I see some nodes use Lee position controller, Is it possible a pure position controller or does it control velocity(RPM) of individual thrusters ?
  3. I tried the crazyfly examples. It is very slow in motion even for hovering or following any waypoints. What could be the reason for this ?

I am looking forward for your reply.

gsilano commented 5 months ago

It seems there might be a misunderstanding. While the discussion revolves around hexarotors, the package itself is intended for CrazyS, a quadrotor platform. It appears you might be utilizing features from RotorS, upon which CrazyS is built (further details in the suggested papers). If that's the case, I'd suggest referring to the Issue Tracker of RotorS, as your inquiries and subsequent responses would likely be more effective there.

For your questions regarding trajectory, please see #67 and related threads.

Regarding Lee's position controller, there's an open pull request (#86) that I haven't had the chance to address yet. Unfortunately, it can be challenging to find time to maintain a software repository alone, especially when there aren't tangible outcomes (which can make justifying the time commitment difficult).

Could you please clarify what you mean by "slow"? It shouldn't be operating at such a sluggish pace. What is the real-time factor value you're experiencing?