01185e9788
cmd_vel.angular.x/y != 0 will disable hover mode
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Removed ros params command_disable_hover and command_always_send, in
favour of disabling hover manually by setting cmd_vel.angular.x=1 or
cmd_vel.angular.y=1
2012-11-23 10:36:12 +01:00
cb4179f2f7
Moved launch file to an aggressive launch
2012-11-22 10:25:56 +01:00
4057b6e821
Updated to include some new flags and enable more aggressive flight
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This is an aggressive launch file, you should turn down the
euler_angle_max, control_vz_max and control_yaw if you are not
interested in aggressive flight!
2012-11-21 18:29:36 +01:00
96a7a480a3
Merge branch 'more-navdata'
2012-11-21 18:25:54 +01:00
0c42f257ba
No more cache stuff!
2012-11-21 18:08:43 +01:00
1b7074de37
Added enable_legacy_navdata (true by default)
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This flag allows us to turn off the legacy navdata/imu/mag topics,
favouring usage of the actual packets
2012-11-21 17:26:04 +01:00
24529cd596
Added the ability to disable hover mode and constantly send commands
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As per parcon's suggestion, I'm adding the ability to disable the hover
mode to allow for more predictable and thus modellable drone dynamics.
This should also be useful for my purposes.
2012-11-21 12:55:45 +01:00
54d6fff7bf
Enabling all messages
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Still to do is add a flag to disable the default navdata and imu
messages
2012-11-21 12:53:54 +01:00
ca5fadf778
Added custom messages and handling code
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We now have the ability to access any of the navdata structs which are
sent back by the drone. Still to do is to enable/disable the drone
sending based on whether we're interested in receiving the message.
2012-11-21 12:53:33 +01:00
2fc267c869
Revert "NOT FINISHED: Incorporating custom messages into code"
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This reverts commit f46a7adf89
2012-11-16 13:54:08 +01:00
f46a7adf89
NOT FINISHED: Incorporating custom messages into code
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Sorry for the commit, I wanted to switch back to the main branch for a
while
2012-11-14 14:37:02 +01:00
efaa64c047
Added custom navdata messages and message generator
2012-11-14 14:36:24 +01:00
13145dc1ba
Merge pull request #27 from mikehamer/master
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Now only loads the writeable subset of drone parameters
2012-11-13 16:43:06 -08:00
5d48b4d0ef
Updated README to include tm format
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Optimally this would be calculated before being published to Navdata,
but for backwards compatibility lets document the format for now, and
discuss an additional unpacked time
2012-11-13 11:42:36 +01:00
13bb31ff12
Minor formatting
2012-11-12 12:02:37 -08:00
73e9a53a67
Information about branch added to the README
2012-11-12 12:01:25 -08:00
712a24bb3e
Fixed launch file
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I forgot to remove the debug output from the launch file last time
2012-11-12 17:30:17 +01:00
d1de36328d
A more sensible launch file for most people
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I reset the very aggressive flight parameters to the defaults (eg
relatively slow and controllable)
2012-11-12 17:12:11 +01:00
b72793b89f
Will now only read rosparams for writeable drone parameters
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I put a further check on the parameter parsing code, which checks the
parameter definition to see if it is writeable before trying to find a
ros parameter
2012-11-12 16:45:01 +01:00
699fa5a3b6
Revert "will now only read rosparams for writeable drone parameters"
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This reverts commit 3ec0db04aa
2012-11-12 16:42:53 +01:00
3ec0db04aa
will now only read rosparams for writeable drone parameters
2012-11-12 16:21:48 +01:00
0dc6a2a84b
Manually merging #25 to add magnetometer topic (by @sameerparekh)
2012-11-09 18:37:23 -08:00
0b58364a5c
Add backward compatibilty support for -ip command line argument
2012-11-09 17:43:53 -08:00
b5c57a3849
Launch file moved to its own folder. README updated for launch file.
2012-11-09 16:54:18 -08:00
4f568c100c
Bug Fix
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I've fixed the bug causing parameter changes to have no effect on the
drone. Now we do a proper setup of the drone tool (rather than using
the factory default), which includes setting up application and user
profiles on the drone to hold our settings. We then actually send the
parameters to the drone, rather than doing nothing. The parameters
system has been extended to allow all user-modifyable parameters to be
changed (see AR.Drone SDK manual).
2012-11-09 10:14:14 +01:00
d1d4cd1532
.gitignore results of build operation and added launch file
2012-11-07 14:31:16 +01:00
99d0436d1e
Added missing file, rosdoc.yaml
2012-10-30 16:56:13 -07:00
6bab013d70
Added flattrim service ( fixes #18 ). Updated documentation. Some minor
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files/functions cleanup.
2012-10-30 16:53:53 -07:00
23c29727fd
Added required rosdoc configurations to exclud from documentation
2012-10-30 15:38:25 -07:00
fec6fc0723
Minor Readme update to fix #16 and address #15
2012-10-17 16:25:16 -07:00
acc441ec98
Merge pull request #14 from tomh05/bugfix-timestamp
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Ensure timestamps are consistent for camera image and info. Fixes #13
2012-10-11 17:08:40 -07:00
9efbd40019
ardrone_driver.cpp: ensure timestamps are consistent
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Calling ros::Time::now() doesn't guarantee timestamps are matched as
ros::Time::now() can change between calls. This fix sets the timestamps to be
equal, to ensure consistency.
This addresses issue #13 .
2012-10-11 15:16:01 +01:00
60f858e36f
Mutex added for twist commands.
2012-09-13 17:23:34 -07:00
295f2795d9
Minor README polish
2012-09-05 19:16:49 -07:00
de2834bf0c
Minor README modifications
2012-09-05 19:10:45 -07:00
27008cc5b5
Major documentation update. Sample camera caliberation file updated.
2012-09-05 18:43:04 -07:00
25ac4a9f8a
Automatic IMU caliberation can now be disabled using
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`do_imu_caliberation` rosparam and reset using `imu_recalib` service.
The `cmd_vel` queue size resized to 1.
2012-09-05 17:22:59 -07:00
337555f43b
UINT64_C macro definition in case it is not defined by stdint.h. fixes
2012-08-29 17:15:13 -07:00
4e4da04e1a
Minor documentation update. Fixes #4
2012-08-28 18:36:08 -07:00
dddaeb7b1f
Minor edit. Fixes #6
2012-08-28 18:16:31 -07:00
18d80c97ee
Navdata & Video handling callbacks from SDK are now being protected by
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locks. Frequencies are now synchronized with actual data receive rate.
2012-08-27 18:21:41 -07:00
370cdc2bcb
Freq back to 30hz.
2012-08-26 20:57:04 -07:00
f3d23c8d4f
Manual caliberation added for IMU data. CRITICAL bug in navdata handling
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found. Not fixed yet.
2012-08-26 20:56:34 -07:00
997ab0acaa
Covariance values for Imu data moved to rosparam under ardrone/cov
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dictinary.
2012-08-26 12:55:23 -07:00
794121c07b
Navdata, video & TF update frequencies changed to 50hz, 1/fps and 10Hz.
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Sanity check added for Firmware number to detect awkward network
problems.Some experimental (nonsense) covariance values for IMU data.
2012-08-24 16:46:12 -07:00
d0f58fea33
IMU frame removed, The base frame is now the IMU frame. The IMU message
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cov's are experimental.
2012-08-24 13:21:17 -07:00
a2b0b4c0f4
The root of robot frames tree can be changed now using root_frame
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param.
2012-08-21 15:27:22 -07:00
604d93b569
Sample camera caliberation files for both ardrone cameras added.
2012-08-21 10:54:01 -07:00
c25403e4f2
The driver now provides the ROS standard way to get/set both ardrone's
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camera parameters.
2012-08-20 17:12:22 -07:00
6059cacd3a
Frames for frontcam and downcam are now consistent with ROS rep 103.
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http://www.ros.org/reps/rep-0103.html
It does make sense with
http://www.ros.org/doc/api/sensor_msgs/html/msg/CameraInfo.html
information, if you define moving to the right as the camera moves right
and the object inside move to left. [Needs verification].
The notation here: http://www.ros.org/wiki/camera_pose_toolkits
is consistent with what I've done so far.
2012-08-20 14:28:17 -07:00
Mike Hamer