Questions about drone speed control and map loading in the simulator

[WHUjinang]

Hello, I'm currently using the simulator to simulate drone flight. I've encountered two issues with the simulator, namely the drone speed control and map loading issues.

1. Regarding the drone speed control issue: I would like to be able to control the flight speed of the drone in the simulator. However, I'm not sure how to set it up. What are some methods I can use to achieve this?

2. Regarding the map loading issue: I have a point cloud with 250,000 points covering an area of 160m x 1000m. However, when I load them into the program, the points are heavily downsampled. I'm wondering if there are any parameters I can adjust to load this environment without downsampling the points.

Thank you for your help!

[WHUjinang]

At the same time, I want to adjust the altitude of the vehicle at each step of the flight according to my needs, how can I achieve this

[Namelessman-Tom]

抱歉为了方便我用中文回复，希望不会对你造成困扰，也希望你已经解决了问题。

我遇到了跟你一样的问题，不知道如何调整无人机自动航行的最大速度和加速度等参数。甚至不知道如何调节雷达的朝向本人水平有限，从代码中也找不到修改的关键位置。

但对于第二个问题如何调节无人机飞行高度，我的解决方法希望对你有帮助。 在调节配置文件的init_z参数后，无人机的下一次飞行会重新飞到其原来的预定高度，通过翻看代码，我对cascadePID_node.cpp的void cmd_callback(...)函数做了修改：

如上图，将msg.position的z修改为你需要的数值后再赋值给pose_msg即可达到修改固定飞行高度的效果。

同时，该cpp文件中有读取参数init_z的动作，你可以把init_z赋值到pose_cmd.position.z，即可达到修改配置文件使得无人机飞行高度固定为设置高度的目的。

[Namelessman-Tom]

第一个问题中的第二个问题，地图样本密度被减少，也许可以调节launch文件

该数值来解决（没有尝试过，可能有用）

这个仓库关于自定义和阅读代码的帮助性文档和说明非常少，需要懂得从入口文件一步步深入理解代码运行逻辑，非常考验学习者的阅读代码能力，对我这样的ROS初学者不太友好。【😭】