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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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[estimation][control] SO3 attitude control #598

Open sugikazu75 opened 7 months ago

sugikazu75 commented 7 months ago

What is this

https://github.com/jsk-ros-pkg/jsk_aerial_robot/pull/548 is recreated from current master branch.

tongtybj commented 1 month ago

@sugikazu75

I have came up with the solution of replacing the gavity direciton with quaternion for the imu topic from spinal to ROS. I will implement it in few days.

sugikazu75 commented 1 month ago

@sugikazu75

I have came up with the solution of replacing the gavity direciton with quaternion for the imu topic from spinal to ROS. I will implement it in few days.

Ok, I think it's better way. Will quaternion be estimated by imu and magnetometer, right?

sugikazu75 commented 1 month ago

memo: I had to calibrate magnetometer before merging 7b8a8cc

sugikazu75 commented 2 weeks ago

memo: I had to calibrate magnetometer before merging 7b8a8cc

I solved this by 32db881

tongtybj commented 2 weeks ago

@sugikazu75

I forgot to tell you that I am refactoring this branch. So please pause the further development on this branch, and create another temporal branch for any other patch. Could you revert to https://github.com/jsk-ros-pkg/jsk_aerial_robot/pull/598/commits/47e6c27150ea0d87facfd0f49548196e42972d77 for this branch?