Comments (3)
Hello, our controllers are exactly the same in simulation and in reality. Can you please expand you question a bit more? What do you mean by encoder?
When you fly with real drones, you need to change some of the .bashrc variables to correspond to your hw setup (and change the RUN_TYPE to uav). We also use tmux scripts instead of tmuxinator - https://github.com/ctu-mrs/uav_core/tree/master/tmux_scripts
Dan H.
from mrs_uav_system.
Hello,
I will explain a bit more the project. I am developing a controller for two drones transporting a payload (beam) as can be seen in the image below.
For the simulations, I subscribed in the controller to the topics in ROS that give the exact locations of the attachment points of the payload. For the experiments, I will use two rotary encoders placed underneath the UAVs that will give the angles and out of this, the position of the attachment points will be calculated.
This means that I have the same inputs for my controller in the case of simulation and experiment (the attachment points of the load). So having two different controllers is therefore probably not the best solution and I was wondering how you switched. for example between real data from RTK and 'simulated' data from RTK.
I hope the question is a bit more clear.
Raphaรซl
from mrs_uav_system.
I still probably do not understand you completely :D
To be clear and not to mix up the names, controller is just the part of SW which produces control actions based on a given
reference and the current state of the UAV.
The current state of the UAV is called odometry in our system (topics /$UAV_NAME/odometry/odom_main or /$UAV_NAME/odometry/uav_state) and it is independent of the controller. Our system is able to run multiple odometry estimators at the same time (e.g. RTK, normal GPS and vision) and switch between them during flight as needed or as requested. You just need to configure them correctly in the odometry config (https://github.com/ctu-mrs/mrs_uav_odometry/blob/master/config/state_estimators.yaml and other config files).
Is this what you need? To change the source of localization during flight? Or do you need to change the actual controller during flight? (that can also be done with the system).
Dan H.
from mrs_uav_system.
Related Issues (20)
- Make the swap persistent after reboot. HOT 3
- [DOUBT] Why are the ROS packages linked externally and not directly placed within the workspace? HOT 2
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- Troubles running Rviz after installing the mrs_uav_system๐ HOT 13
- Update px4_firmware to 1.12.3. HOT 3
- Collision avoidance uses gps_origin even when rtk_origin is available. HOT 3
- MRS Bumper does not work well with complex trajectories.
- ๐ Simulation does not start, PX4 crashes HOT 1
- ๐ Backward incompatibility: we are no longer bulding with -march=native, please README
- ๐ Backward incompatibility: `mrs_lib::Transformer` API changes, please README
- gzserver: symbol lookup error HOT 2
- ROS2 version HOT 7
- ๐ Backward incompatibility: Updates for px4 firmware v1.13.2 HOT 8
- ๐ Lockstep is not working as it should in the new version of the simulation. HOT 1
- ๐ Calling rosdep init fails HOT 1
- Is there a easy way to implement a simulation environment with mrs? HOT 2
- mrs_uav_system for NXP hovergame drones HOT 1
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