how to control the position of the propeller about bebops HOT 5 CLOSED

@gsilano thank you for your reply. I think I have got the answer.

from bebops.

Thanks for opening your first issue here! Make sure that no other issues on the same topic have already been opened!

from bebops.

What do you mean with "the position of the propeller"? If you want to change the geometry, i.e., the distance of the propellers in terms of x and y-coordinates, just change this line

from bebops.

hi,@gsilano. I did not make myself clear. The velocity of the propeller can be controlled by sending commands in the terminal:
$ rostopic pub /gazebo/command/motor_speed mav_msgs/Actuators '{angular_velocities: [1000, 1000, 1000, 1000]}'
I sent the command
$ rostopic pub /gazebo/command/motor_speed mav_msgs/Actuators '{angles: [1, 1, 1, 1]}'
to control the angle of the propeller, but this does not work. So how to change the angle of the propeller.
Thank you.

from bebops.

If you need to change it in real-time, during the simulation, as I understand, you would like to simulate a fully actuated platform as described in these papers.

Comparison of Control Methods for Trajectory Tracking in Fully Actuated Unmanned Aerial Vehicles
Full Pose Tracking for a Tilt-Arm Quadrotor UAV
Modeling and control of FAST-Hex: A fully-actuated by synchronized-tilting hexarotor

In this case, it is better to open an issue in RotorS, the repository used as the basis for BebopS.

Instead, if you need to change the rotors configuration before starting the simulation, simply change the rpy="0 0 0" of the part of the code mentioned before.

from bebops.