search

tum-vision / tum_simulator

40 stars 91 forks source link

after takeoff,drone keep rising #12

Closed wraysx closed 7 years ago

wraysx commented 7 years ago

Hi all, i am using ros kinetic and gazebo8, and install ardrone_autonomy and tum_simulator. but after i pub the message to /ardrone/takeoff, the drone rises and keeps rising even i pub the cmd_vel with z = -1,which means flying to the ground with the max speed, but i still rises, am i missing something? the gravity is -9.8

wraysx commented 7 years ago

i found the reason. i am using the quadrotor with other sensors, but i just change the spawn_quadrotor.launch, it is the quadrotor_sensors.urdf.xacro file matters, which means i should add the sensors into this files to make it right. maybe it is these three lines matters. <robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:xacro="http://ros.org/wiki/xacro">

plakato commented 7 years ago

Hi @raywang-nx , I have the same problem. What sensors are you using and how does your quadrotor_sensors.urdf.xacro file look?

wraysx commented 7 years ago

@plakato Sorry for being so late ... it is such a easy file.

<?xml version="1.0"?>

plakato commented 7 years ago

Thank you @raywang-nx,

I have already solved my problem by installing some hector_quadrotor packages that were dealing with sensors..