# Date Author Comment
02975ec6 05/07/2012 10:32 pm Thomas Mullins

Changed goal in altitude_node to be current height when enabled.

734b51b9 05/07/2012 09:15 pm Thomas Mullins

Added PID subscribers to altitude_node

This should make testing at least a little easier, until we come up with
a better way. Also, moved joystick_control.launch to where it could be
seen globally by ROS.

c7e517ce 05/07/2012 09:03 pm Thomas Mullins

Added ability to change constants in PID_control

122a57d8 05/06/2012 05:07 pm Thomas Mullins

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.

3a82529c 05/03/2012 08:31 pm Thomas Mullins

Nevermind... didn't need those


c1426757 05/03/2012 08:18 pm Thomas Mullins

Adding some files to arduino so it compiles

These files are generated by rosserial, but they don't need to be
regenerated by everyone, and I don't remember now how to generate them

98e35b23 04/29/2012 06:43 pm Alex Zirbel

Moved mikrokopter to quad2

  • Make it a stack
  • Added a launch file for running the joystick
  • Added some debug output for altitude_node
53f28116 04/23/2012 05:15 pm Thomas Mullins

Added blob_image back to opencvdetect

807b0a81 04/22/2012 01:52 pm Thomas Mullins

Added joystick_node for the new node_control system

It can also enable/disable altitude_node's thrust messages, and publish
its own instead.

98711613 04/17/2012 12:35 pm Thomas Mullins

Moved mikrokopter package one folder deeper

The packages arduino and altitude_node aren't found inside another
package directory, so this way they're both found and the repo is a
little more organized.

32006eb7 04/16/2012 11:27 pm Thomas Mullins

Fixed segfault in opencvdetect

b11b2b30 04/16/2012 05:02 pm Thomas Mullins

Added cvblobs8.3 to repo so that opencvdetect can compile

7bc485ed 04/16/2012 12:07 pm Thomas Mullins

Added /altitude_node/enable topic to disable PID

Also, added node_control.cpp and Velocity2D.msg, which should have been
commited before but apparently weren't.

d1fc7d9e 04/16/2012 11:52 am Nick Stanley

Merge branch 'master' of ssh://

9262605f 04/16/2012 11:49 am Nick Stanley

Now it seg faults but compiles, please check this out if you can help.

737bd480 04/15/2012 07:17 pm Thomas Mullins

Added altitude_node and node_control

node_control listens to /mikrokopter/thrust, yaw, and velocity, and
publishes control messages using nav_lib. altitude_node publishes to
/mikrokopter/thrust using PID_control on barometer values.

4ed577d5 04/15/2012 06:03 pm Thomas Mullins

Improved the README in mikrokopter/arduino

08b4f0df 04/08/2012 07:14 pm Thomas Mullins

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 has
enough thrust to get it off the ground.

c0827bb1 04/08/2012 07:09 pm Thomas Mullins

Merge branch 'debugging' of ssh:// into debugging

8f2a7f0a 04/08/2012 07:04 pm Thomas Mullins

Changed max thrust in nav_lib

Tested joystick_control with the quadrotor, and it works! And it now has
enough thrust to get it off the ground.

84ba27b3 04/07/2012 07:30 pm Nick Stanley

removed bin, build folders from git

30195c82 04/07/2012 07:28 pm Nick Stanley

Merge branch 'master' of ssh://

66cddc69 04/07/2012 07:03 pm Nick Stanley

Merge branch 'master' into debugging


8711dd52 04/07/2012 01:22 pm Nick Stanley

Added all temporarily

b802d750 04/07/2012 01:21 pm Nick Stanley

Changed manifest.xml

d5eb9681 04/07/2012 01:19 pm Nick Stanley

Modified CMakeLists.txt

14f111dd 04/07/2012 01:11 pm Nick Stanley

Added files, changed it, still getting a bad executable error.

14c71a7d 04/02/2012 05:40 pm Nick Stanley

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.

3bdc7bfd 03/25/2012 06:20 pm Thomas Mullins

Changed rviz target to publish constantly

2cd34992 03/07/2012 01:16 pm Alex Zirbel

Added vision test photos from fence at noon.

8908615c 03/07/2012 11:48 am Nick Stanley

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.

84e76dd5 03/07/2012 11:45 am Nick Stanley

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.

84a809d3 03/04/2012 07:59 pm Nicolas

Modified nav_lib to cap input for set_velocity and set_yaw between -1 and 1. Also modified CoordToPID to pass timestamp to PID.

1b7b0c69 03/04/2012 07:13 pm Priya

Merge branch 'master' of ssh://

7741ab09 03/04/2012 07:12 pm Priya

Added a time thing to PID control

393f899e 03/04/2012 06:17 pm Nicolas

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.

71780e9c 03/04/2012 06:05 pm Priya

tested pid_control and fixed it. added the test file for future reference

901514c8 03/04/2012 05:39 pm Priya

fixed a semicolon

3f8dea88 03/04/2012 05:38 pm Priya

Merge branch 'master' of ssh://

bb70c69d 02/28/2012 12:01 am Thomas Mullins

Fixed callback problem using std::bind

Still some TODO's.

91a0bfa9 02/27/2012 10:26 pm Nick Stanley

Commented code!

643083a8 02/26/2012 08:53 pm Thomas Mullins

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's
in src/rviz_interactive_target.cpp.

f3966b0d 02/26/2012 08:26 pm Nick Stanley

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.

a6ca8c2b 02/26/2012 07:01 pm Priya

Wrote pid control stuff...untested.

bc5901d3 02/19/2012 08:48 pm Thomas Mullins

Fixed params not loading correctly

480be65b 02/19/2012 05:52 pm Thomas Mullins

Fixed problem in joystick.launch

7a6ed02d 02/17/2012 07:06 pm Thomas Mullins

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 be
used from now on. However, old publish_on still works as it did....

57ed459f 02/15/2012 10:39 pm Thomas Mullins

Removed build files from repository


13b764cd 02/15/2012 08:53 pm Thomas Mullins

Working more.

06a5548b 02/15/2012 07:15 pm Thomas Mullins

Wrote mikrokopter/turn_to_target

It subscribes to /v2v3_converter/target_3d, and publishes yaw
proportional to the angle of the target in the horizontal plane. It may
use the wrong axes and/or turn the wrong way.

06738945 02/14/2012 02:42 pm George Stanley

The code compiled! Now to make sure everything does what it's supposed to do.

b1055c82 02/12/2012 06:28 pm Thomas Mullins

Nick made some changes to make it compile.

880aeb43 02/12/2012 05:15 pm Nick Stanley

Edited the v2v3 converter file

6499f09b 02/09/2012 08:16 pm Thomas Mullins

Arduino now reads 2 sonars and publishes

It publishes to /range_up and /range_down, from pins A0 and A1.

58d82c77 02/09/2012 07:46 pm Thomas Mullins

Added mikrokopter/arduino, which uses rosserial

It currently runs on an Arduino Uno, and successfully gives data back to
the 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...

05e1c990 02/06/2012 04:48 pm Thomas Mullins

Fixed immediate runtime error

Moved the TransformListener initialization into the target_cb, so that
it wouldn't try to initialize a NodeHandle before ros::init was called.

80eadc1e 02/01/2012 11:02 pm Thomas Mullins

Created the vision package

For now there is a skeleton of v2v3_converter (without the math) which
will take in a TargetDescriptor (x, y, size) and tf from /camera to
/kinect, and will output a 3d target location.

2e0d5712 01/27/2012 06:25 pm Priya

Oops. Accidentally commited some of the build files. Deleting them now.

ba6306a1 01/27/2012 06:23 pm Priya

Adding joy package for joystick control. Takes a joystick working with linux and ports it into ROS.

fd29b28e 01/27/2012 06:21 pm Priya

Tested velocity control and added yaw and throttle control to joystick.

5d4b79f4 01/22/2012 11:21 pm Thomas Mullins

Added joystick_control node, with a skeleton of a JoystickControl class,
modeled after the keyboard_control node. Eventually it will take
messages from joy_node and call velocity_control in MikrokopterControl.
At the moment, it compiles but does nothing.

bc4b408e 01/22/2012 06:23 pm Thomas Mullins

Added velocity_control to MikrocopterControl class, which was added to
work with joystick control. Takes forward and lateral speeds and
combines them to set pitch and roll.

0d1f85b5 12/03/2011 07:46 pm Chris Burchhardt

auto-level in mikrokopter keyboard control

d58012b5 12/01/2011 05:18 pm Chris Burchhardt

fixing forwards/backwards, adding level function

dd56aeef 11/20/2011 05:28 pm Thomas Mullins

Added ncurses for key input. It can now publish at a rapid rate because
the key input is non-blocking, and after it exits the terminal is not
screwy, but it's not an ideal solution because ROS_INFO no longer works.

Encapsulated the stuff in nav_lib into a class, MikrokopterControl.

493cca7c 11/19/2011 07:15 pm Chris Burchhardt

basic (not-yet-working) flight control via keyboard

8ecb9700 11/19/2011 04:34 pm Alex Zirbel

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.

da889457 11/19/2011 03:53 pm Thomas Mullins

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

f07fd49e 11/17/2011 09:54 pm Chris Burchhardt

adding libserial0 to rosdep.yaml -- not 100% sure this is needed, but this is what's been running on my machine, and it works...

73ee1105 11/17/2011 09:53 pm Chris Burchhardt

Merge branch 'master' of ssh://

a15ffaa4 11/17/2011 09:49 pm Chris Burchhardt

adding simple app to make the quadrotor fly forwards a bit

4ed0de29 11/17/2011 05:15 pm Roboclub

Added rosdep.yaml, to prevent future annoyances with libserial.

e5af41b0 11/13/2011 04:44 pm Chris Burchhardt

moving mikrokopter code from quad1 folder to root dir

07ec0a21 11/04/2011 07:04 pm Chris Burchhardt

adding mikrokopter navigation stack

9240aaa3 10/28/2011 12:39 am Alex Zirbel

Added files from old subversion repository.

02ea17a0 10/26/2011 10:40 pm Alex Zirbel

Added a README file to the empty git repository.

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