Revision:

Revisions

# 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

D'oh!

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
anyway.

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://roboclub.org/home/svn/quadrotor

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://roboclub.org/home/svn/quadrotor 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://roboclub.org/home/svn/quadrotor

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

Merge branch 'master' into debugging

Conflicts:
vision/CMakeLists.txt

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://roboclub.org/home/svn/quadrotor

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://roboclub.org/home/svn/quadrotor

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

Y U COMMIT BUILD FILES?!!1!

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.

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