How to control quadricopter using ROS twist message

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Seongjoo
Posts: 2
Joined: 21 Jan 2018, 19:53

How to control quadricopter using ROS twist message

Post by Seongjoo » 13 Feb 2018, 09:24

Hello,

I want to control the quaricopter at the input speed.
I am using ROS.

ROS and V-rep connections succeeded.
I also succeed receiving V-rep ROS messages.

However, the quadricopter does not move with the input speed message. It moves faster than the input message.
(ex, Input message: 1m / s (x axis), velocity measurement: 2.6m / s (x axis))
I am not familiar with control algorithms. Therefore, I would like to introduce an algorithm that can move the quaricopter at the input speed.
If you have an example, I think it will help me a lot. Thank you.

coppelia
Site Admin
Posts: 6736
Joined: 14 Dec 2012, 00:25

Re: How to control quadricopter using ROS twist message

Post by coppelia » 15 Feb 2018, 09:36

Hello,

the control algorithm of the quadcopter was just meant to be a simple example. The best is to write a new controller that you will also understand how to modify and adjust. And instead of starting with a quadcopter, you could start with a simple cube floating in the air. Then try to add external forces to guide your cube according to the ROS messages you receive.

Cheers

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