start position

[tanzhengo]

Hi, In the The Intermediate submission - deadline, instructions, it said UAV should spawn at the location x=1, y=1,. While in 1, the UAV is spawned at (1.5, 1.5, 0), after it take off, the position is (2,2,2). Should we change this?

[fpetric]

Yes.

[tanzhengo]

Yes.

We are still confused: should we manually adjust the x:=1.5 y:=1.5 to x:=1 y:=1 in the session.yml file, or should we alter our position to allow the UAV to fly to the coordinates (1, 1, z)? Is this position determined by odometry? This question arises even if the position we set does not match the position displayed in Gazebo's odometry.

[fpetric]

You should adjust session file. I will check, I think we resolved this discrepancy between gazebo and odometry at some point. But for this submission, it is not that important

[allenthreee]

You should adjust session file. I will check, I think we resolved this discrepancy between gazebo and odometry at some point. But for this submission, it is not that important

Hi, Frano, Thank you for your swift reply. Our concern is that if there is a bias between the init pose and the odometry ouput(differences in README and code), the UAV might hit the obstacle if some setting is changed and others are not changed accordingly. So we want to ensure these parameters are set correctly :)

[fpetric]

For now, since the world is empty the UAV will not crash into anything and the alignment of the frames is not that important (we will just check the shape of the path to see if the UAV did anything remotely similar to what was required). We will look into that, we just need some time in our schedules. :)