Issue on sending mav_ctrl commands through ROS on pelican

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Issue on sending mav_ctrl commands through ROS on pelican

Luczia
Hi,

After many tries, I did not manage to control the drone through ROS and call upon your help.

I tried every type of mav_ctrl command type( 1: acceleration, 2: velocity,3:position) and never succeeded to have a reaction on the drone.

Here is the Atomboard setup:

            - Ubuntu 12.04
            - ROS hydro
            - asctec_mav_framework and ethzasl_msf  (fcu.launch runs apparently flawlessly)
            - a ROS NETWORK enabled with a ground base PC for data monitoring

For my test, I ensured that :
                - motors are running at low throttle
                - “serial interface enabled” AND “serial interface Active” remains at ON (monitored with the windows Autopilot).
                - every topics are mapped correctly
                - fcu.launch is running
       
I do publish :  -a poseWithCovariance on fcu/pose at 10 Hz and its corresponding tf
                    -a mav_state on fcu/state at 100 Hz and its corresponding tf
                    -a mav_ctrl on fcu/control at 10Hz with arbitrary target coordinates.

The pelican do not react (neither through mav_ctrl message or waypoint serveur/client)

So Here come my question :
Even if my state or pose were deffective, the following configuration should bypass the estimation and the pelican should try to move, right?

                - state_estimation = Extern
                - position_control = off
                - sending arbitrary target coordinates in mav_ctrl message with type = 1


So, did I miss any parameter to enable control of the pelican from ROS mav_ctrl messages ?
Do anyone has example of a working mav_ctrl message publisher and the configuration (yaml files) of fcu?
 


I would greatly appreciate your help on this issue!!

Thanks,
jmz
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Re: Issue on sending mav_ctrl commands through ROS on pelican

jmz
Seems to me that position_control should be set to "HighLevel"

See tutorial http://wiki.ros.org/asctec_hl_interface/Tutorials/hlp%20position%20control
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Re: Issue on sending mav_ctrl commands through ROS on pelican

Luczia
My understanding of paragraph 5.1 is that postion_control = HighLevel is only recquired for velocity and postion/waypoint commands.

I guess acceleration commands don't recquire a position feedback.

However, even with position_control set to HighLevel, and trying to send mav_ctrl messages of type 1,2 or 3 (acceleration, velocity or position) the pelican do not react.
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Re: Issue on sending mav_ctrl commands through ROS on pelican

MarkusAchtelik
Do you have the sticks of the RC centered? All switches in the correct positions? You can also check the position reference by plotting the debug channels listed in https://github.com/ethz-asl/asctec_mav_framework/blob/master/asctec_hl_interface/scripts/plot_refmodel (unfortunately rxplot doesn't exist anymore and I haven't updated the scripts yet). This should show some changes when you send a waypoint.

It would be helpful for debugging if you post your rosgraph.

Markus

From: "Luczia [via asctec-users]" <[hidden email]<mailto:[hidden email]>>
Date: Friday 16 May 2014 17:36
To: Markus Achtelik <[hidden email]<mailto:[hidden email]>>
Subject: Re: Issue on sending mav_ctrl commands through ROS on pelican

My understanding of paragraph 5.1 is that postion_control = HighLevel is only recquired for velocity and postion/waypoint commands.

I guess acceleration commands don't recquire a position feedback.

However, even with position_control set to HighLevel, and trying to send mav_ctrl messages of type 1,2 or 3 (acceleration, velocity or position) the pelican do not react.

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Re: Issue on sending mav_ctrl commands through ROS on pelican

Luczia
Yes, the sticks of the RC were centered.

We found the problem: the firmware on the HLP was not updated to the last version.
To update, follow the tutorial on this link:  [http://wiki.asctec.de/display/AR/SDK+Setup+for+Linux ]  Ethzasl's custom firmware can be found in the firmware folder of asctec_mav_framework on github ).

My bad.

However, thanks for the responsiveness.