New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Joystick teleoperation #133
Comments
I think better not a plugin, but script node that use rc_io plugin. |
Will that include setpoint stuff? |
I'm not very used to the scripts as you saw, I would really prefer a plugin. But I can send you this as a plugin and then you can convert it to a script if you want. |
Just i don't want duplicate code that already exists (and works). I my mind this node should subscribe to joystick topic and produce rc override messages (or setpoint). |
Ok I would do that right away |
@vooon sent you the e-mail now ;) |
Ok, i'll see it tomorrow. |
Sure 👍 Thanks! |
I could add a similar node that I have for this if it is needed. @TSC21 |
@tonybaltovski please send it to me. I think it useful example, but perhaps it must be in extras. |
@tonybaltovski I already started a plugin, which I sent to @vooon so it can adapt the way he wants. It was almost ready for setpoint control, but RC override part I left it to @vooon. |
What's the status on this? I would really like to get an hand on this so to test setpoints also :) |
Maybe tomorrow... |
Now it's just proof of concept. Implemented only RC override of RPYT channels. Issue #133.
@TSC21 It's just proof of concept, but it should work. |
I will try it, thanks! :) But my priority is to test the setpoints using the joystick. If you please can add the possibility of position and velocity control I would be grateful. For velocity, send The position control is simple: instead of |
Update: regarding the |
You run the joy_node?
2014-08-27 18:17 GMT+04:00 TSC21 notifications@github.com:
|
No! Yeah it works now. Forgot the |
Ok now regarding the override itself: echoing override_pub = rospy.Publisher(args.mavros_ns + "/rc/override", OverrideRCIn, queue_size=10) Need to correct that or I make a PR. |
@vooon RC override it's not working. The script is publishing to |
My priority isn't the RC override, even though I would like to set it up. But I can't seem to find what's the problem. In the mean time, can you get the setpoint velocity and position control implemented please? (based on the above comment I did regarding the specs of this kind of control) |
I have the same issue with the RC override. The FCU does not use it. |
@tonybaltovski can you try to debug the reason? I'm occupied with some other stuff regarding POSCTL. |
When i test overrides with APM i found, that it silently drops if override message comes from system_id != SYSID_MYGCS (default: 255). So i change it to 1 (mavros defaults) and it works. Or we could change mavros system_id. |
So what is wrong? |
Perhaps PX4 don't handle RC override messages, i can't find handler for |
Yes it seems not. Well too bad, I think we can ask implementation, but I would prefer to get setpoints working. Can you give a hand @vooon please? |
@vooon I will give it another try on my APM tomorrow and let you know. |
(Started before your PR). |
Yes now I understand! Thanks! Will cancel PR then. |
Usage:
Or create your own launch with |
Thanks! Will try then! |
I'm preparing to weekend flights, so it in todo.. |
If you point out myabe I can give a try |
I'll fix typo. |
By the way, just noticed that the PX4\Firmware has 500 forks! |
:D Doesn't surprise given the huge community using Pixhawk and PX4 derivative projects. |
Just wanted to comment on this. I was about to write something like just as I saw this issue. Its like the community read my mind :D. Tested it, works like a charm. |
@pmukherj Can you please outline brief steps on how you got this working on a clean system. I will expand, test and adapt to get this into the wiki. |
@mhkabir I think best place in wiki - tutorial pages (currently not exist in mavros space). |
@vooon I meant PX4 wiki :) I can add a note to README. |
Sure thing! I wanna make sure I didn't take any redundant steps (upgrading the firmware to the dev version may have been not required etc.). I'll write something up today. |
@mhkabir I couldn't fly today due to bad weather in Canada, but while bench testing I noticed that when a non-zero r,p,y command is sent (using the joystick) there is no audible change in the motor power. When I control the thrust (through the f710 joystick), I can hear the motors whine up and down. When I swing the body of the quadrotor around, I can hear the motors whine and try and compensate. However, when I give it large a r,p,y command to target through the setpoint/attitude command there is no such compensation heard. Are there any feedback messages implemented as part of mavros, something that acknowledges a command being implemented (maybe the individual motor powers or something?). |
@pmukherj Can you please IM me on Gitter or Hangouts (mhkabir98@gmail.com). Lets walk through with this. I need more info about your setup. |
Sorry, Right, I was busy doing some DAQ flights. I can look into that or do you have a fork with this implemented? |
@pmukherj I'm looking into getting attitude and position targets into my visualiser plugin. There are some tf issues, so I'm solving those. |
Sorry! Moving offices over new years. |
Yup. Verified that the setpoints are actually working! The internal setpoints are accepting it, and the controller outputs are also visible. Now for flight tests :). Wish me luck. |
@pmukherj You can connect the companion to your TELEM2 port and start it via extras.txt in your microSD card. Also, can you please add the order for flight testing here : http://www.pixhawk.org/dev/offboard_control/testing Just put in the points, and I'll clean it up. |
@vooon The joystick plugin works fine, but crashes too badly if one of the axes aren't found or out of range, etc. |
We can add min/max limitting. Note that was not a plugin, node. |
True ;) |
I don't want plugin because it's reinventing the wheel. Maximum rewrite from python to C++. |
In bound. Will need some help in the RC override part.
The text was updated successfully, but these errors were encountered: