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QuadSim.md

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Example with GUI

roslaunch kr_mav_launch rviz.launch
roslaunch kr_mav_launch demo.launch sim:=true vicon:=false mav_name:=quadrotor

Run a simple example script

roscd kr_mav_launch/scripts
./sample.bash quadrotor

There is also a GUI that can be used to send simple commands to the robot through the rqt_mav_manager. Launch it by running

rosrun rqt_mav_manager rqt_mav_manager

then try Motors ON -> Take Off -> Go To (set z > 0)

Example with Waypoint Navigation Tool

Clone the waypoint_navigation_tool in your workspace.

roslaunch kr_mav_launch rviz.launch
roslaunch kr_mav_launch demo.launch sim:=true vicon:=false mav_name:=quadrotor
rosrun kr_trackers waypoints_to_action.py __ns:=quadrotor

Use rqt to start motors and takeoff.

rosrun rqt_mav_manager rqt_mav_manager
  • then try Motors ON -> Take Off -> Go To (set z > 0)

Use rviz to place waypoints and publish on the topic /waypoints. The waypoints_to_action node listens to this topic, sends an action goal to TrajectoryTracker and switches the tracker.