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tidota / quadrotor-tunnel-nav

ROS quadrotor tunnel navigation with Gazebo
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Question about this package #1

Open tiralonghipol opened 6 years ago

tiralonghipol commented 6 years ago

Hi. First of all, amazing work! I have been playing around with the quad and it is working pretty well. But I have a question, hope you can answer me:

Thanks

tidota commented 6 years ago

Hi, thank you for your question! I am using the hector-quadrotor package: https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor.

Their paper provides more details. To the best of my knowledge, the controller's node advertises a cmd_vel topic, accepting a velocity command w.r.t. the quadrotor's reference frame. Applying this input, it internally simulates the aerodynamics and applies the resulted forces to the quadrotor in the simulation.

The higher level of control is behavior-based. A velocity command for the controller mentioned above is generated by a group of nodes or reactive agents, each of which represents a simple behavior, e.g., obstacle avoidance, keeping the altitude, etc.

I will update the README.md in the near future.

Thank you