TSC21
commented
6 years ago @khancyr maybe you can lend a hand?
Closed mellonUAV closed 6 years ago
TSC21
commented
6 years ago @khancyr maybe you can lend a hand?
mellonUAV
commented
6 years ago @TSC21 @khancyr Are these settings in the apm_config.yaml correct for what I am trying to do?
# setpoint_position
setpoint_position:
tf:
listen: false # enable tf listener (disable topic subscribers)
frame_id: "map"
child_frame_id: "target_position"
rate_limit: 50.0
mav_frame: LOCAL_NEDShould I adjust any specific parameters for this task in APM?
Also here is my ros node that publishes to /setpoint_raw/global:
// code for sending target GPS position
#include <ros/ros.h>
#include <cstdlib>
#include <math.h>
#include <stdlib.h>
#include <stdio.h>
#include <mavros_msgs/GlobalPositionTarget.h>
#include <geometry_msgs/PoseStamped.h>
int main(int argc, char **argv) {
ros::init(argc, argv, "setpoint_global");
ros::NodeHandle n;
ros::Publisher pub = n.advertise<mavros_msgs::GlobalPositionTarget>("setpoint_raw/global", 100);
ros::Rate rate(10);
while(ros::ok()){
mavros_msgs::GlobalPositionTarget msg;
msg.header.stamp=ros::Time::now();
float longi = double(atoi(argv[1]));
float lat = double(atoi(argv[2]));
float alt = double(atoi(argv[3]));
// msg.longitude = longi;
// msg.latitude = lat;
// msg.altitude = alt;
msg.pose.position.y = longi;
msg.pose.position.x = lat;
msg.pose.position.z = alt;
ROS_INFO("Position data sent %f, %f, %f", msg.pose.position.x, msg.pose.position.y, msg.pose.position.z);
pub.publish(msg);
// rc_override_pub.publish(msg_override);
ros::spinOnce();
rate.sleep();
}
}@mellonUAV is this still a problem?
TSC21
commented
6 years ago @mellonUAV closing as stale. Please reopen if you still have problems with it.
Hello,
I am trying to control a quadrotor indoors using UWB to localize. Basically UWB gives me x, y, z position data. I have managed to feed this position data as GPS to APM succesfully. Here is my previous issue on this topic: https://github.com/mavlink/mavros/issues/942
Now I am trying to send target position to APM through mavros. I tried sending through /setpoint_raw/global. I published to this topic and set the quadrotor GUIDED mode. APM Planner didn't seem to receive any position target data.
I think I want to publish to SET_POSITION_TARGET_GLOBAL_INT mavlink message because I am working with HIL_GPS. How can I achieve this. I will also try publishing to SET_POSITION_TARGET_LOCAL_NED by using setpoint_position but I am not sure if this method will work form me since I don't have ant x, y, z data on APM.
As I said in the previous issue, I am new to this stuff. Am I doing something wrong here or is there a better method to do this?
Thank you so much for your help!
Best regards, Melih
MAVROS version and platform
Mavros: 0.18.3 (Erle Brain-3) (I am not sure how to properly check this. They say this is the generic version in Erle Brain but I am not sure. I installed mavros to PC by "sudo apt-get ...") ROS: Kinetic Ubuntu: 16.04
Autopilot type and version
[x] ArduPilot [ ] PX4
Version: V3.5.0-rc9 (242c8f0b)
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