Commit 6fbd1208 authored by Ricardo Rico Uribe's avatar Ricardo Rico Uribe
Browse files

final touches and fixes - error in ardupilot-gazebo plugin

parent 5140bb7f

README.md

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@@ -12,8 +12,8 @@ Repository to simulate the Aquanaute boat in maritime conditions such as wind an 


### ardupilot parameters



in the file "vehiculeinfo.py" (/ardupilot/Tools/autotest/pysim) you need to change the default parameters file for the "gazebo-rover" in line 280 to the aquanaute.parm file provided in /aquanaute/aquanaute_description/ardu_params you can copy and paste the file in the default_params folder located inside (/ardupilot/Tools/autotest).

*There is an error when you launch ardupilot, the motors in the gazebo simulation will start to turn in a fixed direction and wont respond to commands, this issue has not yet been fixed and it's root cause it's not yet defined, it may be the ardupilot_gazebo plugin or the ardupilot frame*

in the file "vehiculeinfo.py" (/ardupilot/Tools/autotest/pysim) you need to change the default parameters file for the "gazebo-rover" in the line 280 to the aquanaute.parm file provided in /aquanaute/aquanaute_description/ardu_params you can copy and paste the file in the default_params folder located inside (/ardupilot/Tools/autotest).

*There is an error when you launch ardupilot, the motors in the gazebo simulation will start to turn in a fixed direction and wont respond to commands, this issue has not yet been fixed and it's root cause has not yet been found, It's believed that the ardupilot-gazebo plugin doesnt know how to interpret the signals sended by ardupilot*



---
@@ -58,7 +58,8 @@ then launch the file you created 


    roslaunch aquanaute_gazebo aquanaute.launch testing:=false



this parameter can be changed to true to deactivate the plugins from vrx (the world will be changed to an empty world without gravity)

this parameter can be changed to true to deactivate the plugins from vrx (the world will be changed to an empty world without gravity).  

You will have an error "Missing Model.../dock_permutations) this is normal.



#### ardupilot

aquanaute_description/ardu_params/aquanaute.parm

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FRAME_CLASS 2

AHRS_ORIENTATIONM 0

GCS_PID_MASK 1

SERVO1_FUNCTION 26

SERVO3_FUNCTION 70

ARMING_CHECK 0
 
ACRO_TURN_RATE,120

ARMING_CHECK,0

CRUISE_SPEED,2

CRUISE_THROTTLE,20

FRAME_CLASS,2

SERVO1_FUNCTION,26

SERVO1_MAX,1900

SERVO1_MIN,1100

SERVO1_REVERSED,1

SERVO1_TRIM,1500

SERVO3_FUNCTION,70

SERVO3_MAX,1900

SERVO3_MIN,1100

SERVO3_REVERSED,0

SERVO3_TRIM,1500

SPEED_TURN_GAIN,50

TURN_MAX_G,0.4

WP_SPEED,4

aquanaute_gazebo/urdf/aquanaute_gazebo.urdf.xacro

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@@ -82,14 +82,28 @@ 


            <control channel="0">

                <type>POSITION</type>

                <multiplier>1</multiplier>

                <multiplier>100</multiplier> <!--ARBITRARY VALUES-->

                <offset>0</offset>

                <p_gain>1.0</p_gain>

                <i_gain>0</i_gain>

                <d_gain>0</d_gain>

                <i_max>0</i_max>

                <i_min>0</i_min>

                <cmd_max>3.5</cmd_max>

                <cmd_min>-3.5</cmd_min>

                <jointName>aquanaute::motor_platform_joint</jointName>

            </control>

            <control channel="0">

            <control channel="2">

                <type>VELOCITY</type>

                <multiplier>1</multiplier>

                <multiplier>800</multiplier> <!--ARBITRARY VALUES-->

                <offset>0</offset>

                <p_gain>0.20</p_gain>

                <i_gain>0</i_gain>

                <d_gain>0</d_gain>

                <i_max>0</i_max>

                <i_min>0</i_min>

                <cmd_max>2.5</cmd_max>

                <cmd_min>-2.5</cmd_min>

                <jointName>aquanaute::propeller_motor_joint</jointName>

            </control>

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