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tu-darmstadt-ros-pkg / hector_quadrotor

hector_quadrotor contains packages related to modeling, control and simulation of quadrotor UAV systems.
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about quadrotor #20

Closed nuriozalp closed 9 years ago

nuriozalp commented 9 years ago

when i give this command to quadrotor : rostopic pub /cmd_vel geometry_msgs/Twist -r 1 '[0, 0, 0.5]' '[0, 0, 0]'

quadrotor is not stoping after i terminate. whats the matter about quadrotor ?????????

nuriozalp commented 9 years ago

i think there is a error about sonar model?

meyerj commented 9 years ago

quadrotor is not stoping after i terminate. whats the matter about quadrotor ?????????

That's normal. There is no timeout implemented in the velocity command input and the quadrotor just continues with the last velocity command received. You do not have to repeat it periodically (-r 1 can be omitted).

If you want to stop the quadrotor you have to publish a command with all values set to zero, e.g. with rostopic:

rostopic pub /cmd_vel geometry_msgs/Twist '{}'

Of course this is not the most intuitive way to send commands. There is a joystick or gamepad node in the hector_quadrotor_teleop package which publishes cmd_vel. Or you have to write your own application-specific node to send velocity commands.