[Control] made external wrench estimation common feature

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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Open sugihara-16 opened 1 year ago

sugihara-16 commented 1 year ago

I made external wrench estimation in Dragon' controller a common feature.

Setting the parameter wrench_estimate_flag in the controller config as true.
Setting target wrench in controlCore() using setTargetWrenchAccCog(). You can see the example for activation in commit 3f13c20.

sugihara-16 commented 1 year ago

support wrench estimation for LQI controller