Commit 6fbd1208c699ba279631561987ccead0a180b21d

Authored by Ricardo Rico Uribe
1 parent 5140bb7f

final touches and fixes - error in ardupilot-gazebo plugin

@@ -12,8 +12,8 @@ Repository to simulate the Aquanaute boat in maritime conditions such as wind an @@ -12,8 +12,8 @@ Repository to simulate the Aquanaute boat in maritime conditions such as wind an
12 12
13 ### ardupilot parameters 13 ### ardupilot parameters
14 14
15 -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).  
16 -*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* 15 +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).
  16 +*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*
17 17
18 --- 18 ---
19 19
@@ -58,7 +58,8 @@ then launch the file you created @@ -58,7 +58,8 @@ then launch the file you created
58 58
59 roslaunch aquanaute_gazebo aquanaute.launch testing:=false 59 roslaunch aquanaute_gazebo aquanaute.launch testing:=false
60 60
61 -this parameter can be changed to true to deactivate the plugins from vrx (the world will be changed to an empty world without gravity) 61 +this parameter can be changed to true to deactivate the plugins from vrx (the world will be changed to an empty world without gravity).
  62 +You will have an error "Missing Model.../dock_permutations) this is normal.
62 63
63 #### ardupilot 64 #### ardupilot
64 65
aquanaute_description/ardu_params/aquanaute.parm
1 -FRAME_CLASS 2  
2 -AHRS_ORIENTATIONM 0  
3 -GCS_PID_MASK 1  
4 -SERVO1_FUNCTION 26  
5 -SERVO3_FUNCTION 70  
6 -ARMING_CHECK 0 1 +ACRO_TURN_RATE,120
  2 +ARMING_CHECK,0
  3 +CRUISE_SPEED,2
  4 +CRUISE_THROTTLE,20
  5 +FRAME_CLASS,2
  6 +SERVO1_FUNCTION,26
  7 +SERVO1_MAX,1900
  8 +SERVO1_MIN,1100
  9 +SERVO1_REVERSED,1
  10 +SERVO1_TRIM,1500
  11 +SERVO3_FUNCTION,70
  12 +SERVO3_MAX,1900
  13 +SERVO3_MIN,1100
  14 +SERVO3_REVERSED,0
  15 +SERVO3_TRIM,1500
  16 +SPEED_TURN_GAIN,50
  17 +TURN_MAX_G,0.4
  18 +WP_SPEED,4
aquanaute_gazebo/urdf/aquanaute_gazebo.urdf.xacro
@@ -82,14 +82,28 @@ @@ -82,14 +82,28 @@
82 82
83 <control channel="0"> 83 <control channel="0">
84 <type>POSITION</type> 84 <type>POSITION</type>
85 - <multiplier>1</multiplier> 85 + <multiplier>100</multiplier> <!--ARBITRARY VALUES-->
86 <offset>0</offset> 86 <offset>0</offset>
  87 + <p_gain>1.0</p_gain>
  88 + <i_gain>0</i_gain>
  89 + <d_gain>0</d_gain>
  90 + <i_max>0</i_max>
  91 + <i_min>0</i_min>
  92 + <cmd_max>3.5</cmd_max>
  93 + <cmd_min>-3.5</cmd_min>
87 <jointName>aquanaute::motor_platform_joint</jointName> 94 <jointName>aquanaute::motor_platform_joint</jointName>
88 </control> 95 </control>
89 - <control channel="0"> 96 + <control channel="2">
90 <type>VELOCITY</type> 97 <type>VELOCITY</type>
91 - <multiplier>1</multiplier> 98 + <multiplier>800</multiplier> <!--ARBITRARY VALUES-->
92 <offset>0</offset> 99 <offset>0</offset>
  100 + <p_gain>0.20</p_gain>
  101 + <i_gain>0</i_gain>
  102 + <d_gain>0</d_gain>
  103 + <i_max>0</i_max>
  104 + <i_min>0</i_min>
  105 + <cmd_max>2.5</cmd_max>
  106 + <cmd_min>-2.5</cmd_min>
93 <jointName>aquanaute::propeller_motor_joint</jointName> 107 <jointName>aquanaute::propeller_motor_joint</jointName>
94 </control> 108 </control>
95 <!-- 109 <!--