From 069f492a9256c98aa904a811db802b4823276fa5 Mon Sep 17 00:00:00 2001 From: Mani Monajjemi Date: Mon, 7 Jan 2013 17:35:18 -0800 Subject: [PATCH] updated readme: auto hover --- README.md | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index e2f9418..234ad03 100644 --- a/README.md +++ b/README.md @@ -6,6 +6,7 @@ ### Updates +- *January XX 2013*: - *November 9 2012*: Critical Bug in sending configurations to drone fixed and more parameters are supported ([More info](https://github.com/AutonomyLab/ardrone_autonomy/issues/24)). Seperate topic for magnetometer data added ([More info](https://github.com/AutonomyLab/ardrone_autonomy/pull/25)). - *September 5 2012*: Experimental automatic IMU bias removal. - *August 27 2012*: Thread-safe SDK data access. Synchronized `navdata` and `camera` topics. @@ -19,7 +20,7 @@ ### Pre-requirements -This driver has been tested on Linux machines running Ubuntu 11.10 & 12.04 (32 bit and 64 bit). However it should also work on any other mainstream Linux distribution. The driver has been tested on both ROS "electric" and "fuerte". The AR-Drone SDK has its own build system which usually handles system wide dependencies itself. The ROS package depends on these standard ROS packages: `roscpp`, `image_transport`, `sensor_msgs`, `tf`, `camera_info_manager` and `std_srvs`. +This driver has been tested on Linux machines running Ubuntu 11.10, 12.04 & 12.10 (32 bit and 64 bit). However it should also work on any other mainstream Linux distribution. The driver has been tested on both ROS "electric" and "fuerte". The AR-Drone SDK has its own build system which usually handles system wide dependencies itself. The ROS package depends on these standard ROS packages: `roscpp`, `image_transport`, `sensor_msgs`, `tf`, `camera_info_manager` and `std_srvs`. ### Installation Steps @@ -143,7 +144,11 @@ In order to fly the drone after takeoff, you can publish a message of type [`geo -angular.z: turn left +angular.z: turn right -The range for each component should be between -1.0 and 1.0. The maximum range can be configured using ROS parameters discussed later in this document. Publishing "0" values for all components will make the drone keep hovering. +The range for each component should be between -1.0 and 1.0. The maximum range can be configured using ROS parameters discussed later in this document. + +### Hover Modes + +`geometry_msgs::Twist` has two other member variable called `angular.x` and `angular.y` which can be used to enable/disable "auto-hover" mode. "auto-hover" is enabled when all six components are set to **zero**. If you want the drone not to enter "auto hover" mode in cases you set the first four components to zero, set `angular.x` and `angular.y` to arbitrary **non-zero** values. ## Coordinate Frames