[Navigation] improve the landing motion for all robots - Githubissues

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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[Navigation] improve the landing motion for all robots #554

Closed tongtybj closed 1 year ago

tongtybj commented 1 year ago

What is this?

Improve the landing motion with a uniform descending motion

Details

Previous landing process is very tricky and can only land with the initial (takeoff) height.
Enable to land with a constant veloity which can be set by rosparam: https://github.com/jsk-ros-pkg/jsk_aerial_robot/compare/master...tongtybj:develop/landing_process?expand=1#diff-9c1ce395efa7ef3a077e6e1471de383649423c7453dd7c227c41adf5fd490eb8R857
Enable to land with arbitray height, whcih check the steady state by https://github.com/jsk-ros-pkg/jsk_aerial_robot/compare/master...tongtybj:develop/landing_process?expand=1#diff-9c1ce395efa7ef3a077e6e1471de383649423c7453dd7c227c41adf5fd490eb8R716-R717.