overactuated hexacopter to quardcopter about crazys HOT 7 CLOSED

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from crazys.

Hi there! Could you please specify the file you are referring to, as well as the version of ROS and the specific version of CrazyS that you are using? This information will help me provide you with more accurate assistance. Thanks!

from crazys.

Hello @gsilano, Thank you for the reply.

I am using ROS noetic, and I have cloned the ros/noetic branch.

I am working with omav.xacro, omav_base.xacro and underactuated.xacro. I have copied these files from original rotors_simulator repo.

I want to make a tilted-rotor drone.

from crazys.

Hi! I was searching for the omav.xacro and omav_base.xacro files in the dev/ros-noetic branch, but unfortunately, I couldn't locate them. Could you please provide the correct link?

Thanks!

from crazys.

https://github.com/ethz-asl/rotors_simulator/tree/master/rotors_description/urdf
Hii,
Here, are the files. I am using this files.

from crazys.

Okay, now I see. Since this multi-rotor was never tested with CrazyS, I'd start with a simple example. I'd create an empty world by modifying the word file crazyflie2_without_controller.launch. Then, I'll try manually publishing the rotor velocities to the vehicle. If that works, you are on the right track.

Next, you'll need to create your own controller or import one from the RotorS package. Perhaps, they designed a proper version of Lee's controller or any other. Finally, you need to create your own trajectory generation file, as it strictly depends on the controller you are using. For instance, it might require not only position references, but also velocity, acceleration, and jerk.

I hope this helps.

from crazys.

Thank you very much!! @gsilano

from crazys.