Can not fly higher then 30m (simulation) about mrs_uav_system HOT 6 CLOSED

@donkarlo definitely not, those are dynamic constraints. There is no maximum height/altitude in there (which you can check by rostopic echo /uav1/control_manager/current_constraints). Please, double-check your claims first before giving fast advice.

@maxhofidrone Hey, yes there is another way how the maximum height/altitude is limited. The state estimator node (mrs_uav_odometry) can enforce maximum height based on the current estimator. In the end, the actual maximum height is the minimum from the one in the world file (you found that correctly) and the one specified by the odometry. Now I see this feature is not well-documented and definitely not well-built in general, I will put in on TODO.

The parameter can be changed in default_config.yaml and it is the:

altitude:
  # Altitude limits
  max_default: 30.0 # TODO load from world file?

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@klaxalk thank you very much. That solved it!

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@klaxalk hi i removed the post. just wanted to share what i know. but i also said probably so that the reader checks himself as well.

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@donkarlo ye, just... why to advise somene to check a topic (which you somehow know) if you don't know if the information is in there. Check the topic first for yourself and then give the advice. And you don't need to run the system for this. For others as well: if you want to see the list of our common topics, check https://ctu-mrs.github.io/docs/system/uav_ros_interface.html. This will bring you directly to the message type of mrs_msgs/DynamicConstraints.

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@klaxalk Just was excited to share a piece of information in which the data could be found. I will certainly not do it again even if I mention the word probable in advance.

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ctu-mrs/mrs_uav_odometry@f096975 should simplify this. The maximum height above ground is now by default taken from the world file, unless the parameter in the world file does not exist.

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