Changed goal in altitude_node to be current height when enabled.
Added PID subscribers to altitude_node
This should make testing at least a little easier, until we come up witha better way. Also, moved joystick_control.launch to where it could beseen globally by ROS.
Added ability to change constants in PID_control
Minor changes in preparation for test flight.
-Added parameter default_goal to altitude_node-Changed joystick button for toggling altitude control to button 11 instead of 1.
Nevermind... didn't need those
Adding some files to arduino so it compiles
These files are generated by rosserial, but they don't need to beregenerated by everyone, and I don't remember now how to generate themanyway.
Moved mikrokopter to quad2
Added blob_image back to opencvdetect
Added joystick_node for the new node_control system
It can also enable/disable altitude_node's thrust messages, and publishits own instead.
Moved mikrokopter package one folder deeper
The packages arduino and altitude_node aren't found inside anotherpackage directory, so this way they're both found and the repo is alittle more organized.
Fixed segfault in opencvdetect
Added cvblobs8.3 to repo so that opencvdetect can compile
Added /altitude_node/enable topic to disable PID
Also, added node_control.cpp and Velocity2D.msg, which should have beencommited before but apparently weren't.
Merge branch 'master' of ssh://roboclub.org/home/svn/quadrotor
Now it seg faults but compiles, please check this out if you can help.
Added altitude_node and node_control
node_control listens to /mikrokopter/thrust, yaw, and velocity, andpublishes control messages using nav_lib. altitude_node publishes to/mikrokopter/thrust using PID_control on barometer values.
Improved the README in mikrokopter/arduino
Changed max thrust in nav_lib and set thrust to 0 in mk_wrapper
Tested joystick_control with the quadrotor, and it works! And it now hasenough thrust to get it off the ground.
removed bin, build folders from git
Merge branch 'master' into debugging
Added all temporarily
Added files, changed it, still getting a bad executable error.
Edited and so it works, with the exception of now losing all of the CBlobResults includes when linking. I'm going to figure that out next.
Changed rviz target to publish constantly
Added vision test photos from fence at noon.
Changed the names of the files in an array-friendlier way, also so they won't have conflicts with people trying to add theirs seperately. The 13 here were taken in the robotics club.
I added screenshots of the images from inside the robotics club. I am going to rename them now, as I just realized I had forgotten to.
Modified nav_lib to cap input for set_velocity and set_yaw between -1 and 1. Also modified CoordToPID to pass timestamp to PID.
Added a time thing to PID control
Created file CoordToPID. It takes the simulates coordinates from Tom's simulator and plugs them into Priya's pid to come up with mikrokopter controls.
tested pid_control and fixed it. added the test file for future reference
fixed a semicolon
Fixed callback problem using std::bind
Still some TODO's.
Added a way to spoof target position.
It's an rviz interactive marker which can be controlled by the mouse,and which will publish 3d target positions. There are still some TODO'sin src/rviz_interactive_target.cpp.
changed a few things, tested, and now it outputs a sensor_msgs::point so that the control group can use it. We still need to figure out a target HSV value so that we can use that to test.
Wrote pid control stuff...untested.
Fixed params not loading correctly
Fixed problem in joystick.launch
Major changes in mikrokopter for lost connection
-In nav_lib.cpp, added main_loop, so we don't have to keep rewriting it:). Also, this now publishes to /mk_wrapper/control, which should beused from now on. However, old publish_on still works as it did....
Removed build files from repository
Y U COMMIT BUILD FILES?!!1!
It subscribes to /v2v3_converter/target_3d, and publishes yawproportional to the angle of the target in the horizontal plane. It mayuse the wrong axes and/or turn the wrong way.
The code compiled! Now to make sure everything does what it's supposed to do.
Nick made some changes to make it compile.
Edited the v2v3 converter file
Arduino now reads 2 sonars and publishes
It publishes to /range_up and /range_down, from pins A0 and A1.
Added mikrokopter/arduino, which uses rosserial
It currently runs on an Arduino Uno, and successfully gives data back tothe computer over USB. With a few changes (one specified in the README,the rest minor changes to CMakeLists.txt) it should run on the Pro...
Fixed immediate runtime error
Moved the TransformListener initialization into the target_cb, so thatit wouldn't try to initialize a NodeHandle before ros::init was called.
Created the vision package
For now there is a skeleton of v2v3_converter (without the math) whichwill take in a TargetDescriptor (x, y, size) and tf from /camera to/kinect, and will output a 3d target location.
Oops. Accidentally commited some of the build files. Deleting them now.
Adding joy package for joystick control. Takes a joystick working with linux and ports it into ROS.
Tested velocity control and added yaw and throttle control to joystick.
Added joystick_control node, with a skeleton of a JoystickControl class,modeled after the keyboard_control node. Eventually it will takemessages from joy_node and call velocity_control in MikrokopterControl.At the moment, it compiles but does nothing.
Added velocity_control to MikrocopterControl class, which was added towork with joystick control. Takes forward and lateral speeds andcombines them to set pitch and roll.
auto-level in mikrokopter keyboard control
fixing forwards/backwards, adding level function
Added ncurses for key input. It can now publish at a rapid rate becausethe key input is non-blocking, and after it exits the terminal is notscrewy, but it's not an ideal solution because ROS_INFO no longer works.
Encapsulated the stuff in nav_lib into a class, MikrokopterControl.
basic (not-yet-working) flight control via keyboard
Added a keyboard control node.
The new file, keyboard_control.cpp, mimics the turtlesim keyboard reading. It responds to wasd, arrow keys, and "rf" (for up/down), and right now simply outputs ROS_INFO to show what was pressed.
Created nav_lib.cpp/h, with functions forward, backward, left, right,and stop to set the mikrokopter's movement direction.Replaced code in wasd_nav.cpp's main with forward(pub) and stop(pub)from nav_lib.cpp.Added nav_lib.cpp to CMakeLists.txt
adding libserial0 to rosdep.yaml -- not 100% sure this is needed, but this is what's been running on my machine, and it works...
adding simple app to make the quadrotor fly forwards a bit
Added rosdep.yaml, to prevent future annoyances with libserial.
moving mikrokopter code from quad1 folder to root dir
adding mikrokopter navigation stack
Added files from old subversion repository.
Added a README file to the empty git repository.