Is there any possibility to publish the angular velocity and thrust for quadrotor

robin-shaun / XTDrone

UAV Simulation Platform based on PX4, ROS and Gazebo

MIT License

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Is there any possibility to publish the angular velocity and thrust for quadrotor #35

Closed QuantumY-CHN closed 2 years ago

QuantumY-CHN commented 2 years ago

Hi Robin,

Thank you for your fantastic work and I wanna verify my algorithm on the XTDrone platform. I've checked the multirotor_communication.py carefully. I suppose that the communication node subscribes to the linear velocity and pose, and publishes the setpoint. Can I control my model via publishing angular velocity and thrust? Could you please give some advice? I appreciate any help you can provide.

robin-shaun commented 2 years ago

You can refer to https://docs.px4.io/v1.11/en/flight_modes/offboard.html#coptervtol and SET_ATTITUDE_TARGET

QuantumY-CHN commented 2 years ago

Thanks a lot