hector_quadrotor not responding to cmd_vel
I'm using the hector_quadrotor
package, and tyring to simulate in gazebo. The simulated bot does not respond to commands over cmd_vel
, from command line (rostopic pub
), from a custom keyboard teleop node, or even from rosrun hector_quadrotor_controller test_trajectory
.
I'm launching gazebo and spawning the drone using
$ roslaunch hector_gazebo_worlds rolling_landscape_120m.launch
$ roslaunch hector_quadrotor_gazebo spawn_quadrotor.launch
I'm sure it's something simple I'm overlooking, but help would be appreciated!
Edit: further tests show that cmd_vel
does nothing with
$ roslaunch hector_quadrotor_gazebo quadrotor_empty_world.launch
$ rosrun hector_quadrotor_controller test_trajectory
either.
Hello David, two questions: What operating system are you using? How did you install hector_quadrotor?
I'm using Ubuntu 12.04; I installed from ROS binary repositories. Of note: plenty of other ROS and gazebo packages work great with this install and with cmd_vel. I checked out hector_quadrotor from svn and then ran rosmake on it.
Have you verified via
rxgraph
that gazebo is actual connected to that exact topic? Alternatives:rosgraph
,rosnode info
androswtf
.There was a small bug in the hectorgazeboplugins package introduced in r811 yesterday at 18:26 MEZ, that caused nan values in the Imu message for the first simulation step, leading to the effects you described. Height control should not have been affected. Could you try again with r814, please?
Testing with r821, still nothing works. I tested with
roslaunch hector_quadrotor_gazebo quadrotor_empty_world.launch
rosrun hector_quadrotor_controller test_trajectory
The drone does not move in any direction. Also, via rxgraph, gazebo is connected to the correct topic. Edit: same with r814Which repository URL did you use? We merged the fuerte branch in /branches/fuerte back to /trunk a couple of weeks ago. Unfortunately the wiki still shows the old URL, although the documentation index has been updated. However, both versions should be okay.
I just noticed that the USE_PROPULSION_MODEL cmake option in package hector_quadrotor_gazebo was enabled by default. If you have Matlab installed, this option will switch to a more complex control mode also simulating the motor dynamics, but currently will not work without additional plugins/nodes.