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jsk-ros-pkg / jsk_aerial_robot

The platfrom for aerial robot (e.g. general multirotor, hydrus, di, dragon, etc)
http://www.jsk.t.u-tokyo.ac.jp/index-j.html
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Hydrus oct model with vibration suppression control #456

Open makit0sh opened 3 years ago

makit0sh commented 3 years ago

I added Hydrus oct model with vibration suppression control. The torsional vibration suppression utilized Nlopt and KDL.

Also, Hydrus multi model can spawn hydrus with any number of links.

makit0sh commented 3 years ago

@tongtybj For simulation of torsional deformation in Gazebo, this PR uses additional plugin written in: https://github.com/makit0sh/gazebo_joint_torsional_spring_plugin

Where should I add this dependency?

tongtybj commented 3 years ago

@makit0sh

Where should I add this dependency?

Please add https://github.com/makit0sh/gazebo_joint_torsional_spring_plugin/tree/master/src to https://github.com/JSKAerialRobot/aerial_robot/tree/master/aerial_robot_simulation. Then we no longer need add this dependency, which only contains one single cpp file.

tongtybj commented 3 years ago

@makit0sh

tongtybj commented 3 years ago

@makit0sh

I have several points that need to discuss with you.

makit0sh commented 3 years ago

roslaunch hydrus bringup.launch real_machine:=false simulation:=true headless:=false type:=oct onboards_model:=oct_vibration_shift_202011

will now launch simulation.

makit0sh commented 3 years ago

However, KDL dynamics parameter seems to be quite different from the output of RBDL because root link is fixed to world.

tongtybj commented 3 years ago

KDL has wrong result about vibration mode.