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udacity / robotics-nanodegree-issues

Public waffleboard to track Robotics Nanodegree Issues
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Setting Ki bigger than 0 makes drone simulator goes nuts #160

Open arjunaskykok opened 7 years ago

arjunaskykok commented 7 years ago

Steps:

  1. launch "roscore" (after source devel/setup.bash) in one terminal
  2. Run the simulator. "./DroneSim_Lin.x86_64" (I use Ubuntu Native)
  3. in other terminal run "roslaunch quad_controller hover_controller.launch" (after source devel/setup.bash)
  4. Set target to 10, Kd to anything, Kp to anything reasonable.
  5. Set the Ki to any value bigger than 0. Watch the simulator goes nuts.

https://www.youtube.com/watch?v=I4w6xa4Lq70&feature=youtu.be