From e4a44eb170626fa90ea06ebb9f2e453ec7f965ac Mon Sep 17 00:00:00 2001 From: Stevedan Ogochukwu Omodolor <stevedan.o.omodolor@gmail.com> Date: Sun, 29 May 2022 20:36:44 +0200 Subject: [PATCH] pushin --- .../config/crazyfliesConfig.yaml | 8 ++++---- .../config/missionConfig.yaml | 4 ++-- .../launch/mission_controller.launch | 4 ++-- .../experiment_7/test_crazyflie_1_logdata.bag | Bin 0 -> 114688 bytes .../experiment_7/test_crazyflie_2_logdata.bag | Bin 0 -> 172032 bytes .../src/drone_node.cpp | 4 ++-- simulation/untitled.asv | 15 --------------- 7 files changed, 10 insertions(+), 25 deletions(-) create mode 100644 real_robot/coordination_formation_control_pkg/results/experiment_7/test_crazyflie_1_logdata.bag create mode 100644 real_robot/coordination_formation_control_pkg/results/experiment_7/test_crazyflie_2_logdata.bag delete mode 100644 simulation/untitled.asv diff --git a/real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml b/real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml index ccb63c8..8402bf5 100644 --- a/real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml +++ b/real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml @@ -3,10 +3,10 @@ crazyflies: channel: 90 initialPosition: [0.0, 0.0, 0.0] type: default -- id: 2 - channel: 90 - initialPosition: [0.0, 0.0, 0.0] - type: default +# - id: 2 +# channel: 90 +# initialPosition: [0.0, 0.0, 0.0] +# type: default # - id: 3 # channel: 80 # initialPosition: [0.0, 0.0, 0.0] diff --git a/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml b/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml index ad147a1..7710049 100644 --- a/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml +++ b/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml @@ -1,11 +1,11 @@ -n_drones: 2 +n_drones: 1 n_ugvs: 0 hz_freq: 50 # controller frquency mass: 33 # grams include_obstacle: false include_orientation: false n_obs: 0 -log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_6/experiment_6_trianglular_no_formation" +log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_7/test" enable_log: true # waypoint diff --git a/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch b/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch index b302d49..abe5de5 100644 --- a/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch +++ b/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch @@ -13,10 +13,10 @@ </node> </group> - <group ns="uav_2"> + <!-- <group ns="uav_2"> <node name="drone_node" pkg="coordination_formation_control_pkg" type="drone_node" output="screen" args="2" launch-prefix="xterm -e"> </node> - </group> + </group> --> <!-- <group 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za>Z)N<c!hCMGYb%>ReD{F7ZK(P{H`rk6f73NQqq7$kb?S85Vj-G;ujs`aNQV3KY2@ zK5ZkHU@nB_T+ko}D3^~ORfH6&FeY)4dzz~ZzRM33xgb96A{R6+O>E?X>RNE*2JV<g zP!G)0Nc3ofDyd!%F+v53To507<SIm^z_ycsS0y5aBW@-%7s3>Pie-Wk1=Ry;ErTL= z^a2Z5=poU><=paTh&5E8$OZB7M=ogJEGW>CtisJiL=?%xkFay7M(1;}1TS%sdv*_E z4HYPIL453yi!@nJa?XY2SP)GxVL%fEC~`r$d~}%&*^&E2I|zPKIw*2MeEg9Msy7Kn r5X?Q$hyq0_D57A(cxkAf(a6OUO2p;d=?@VjRG`QO@u?rVIGqUqdS-W5 literal 0 HcmV?d00001 diff --git a/real_robot/coordination_formation_control_pkg/src/drone_node.cpp b/real_robot/coordination_formation_control_pkg/src/drone_node.cpp index c6f64f9..0adde6e 100644 --- a/real_robot/coordination_formation_control_pkg/src/drone_node.cpp +++ b/real_robot/coordination_formation_control_pkg/src/drone_node.cpp @@ -342,8 +342,8 @@ int main(int argc, char **argv) { row_vector_2d_t range; range << -0.15, 0.15; row_vector_2d_t out = saturate(in, range); - current_command.roll = out(0)/mass; // conver it to the desired angle - current_command.pitch = out(1)/mass; + // current_command.roll = out(0)/mass; // conver it to the desired angle + // current_command.pitch = out(1)/mass; // vxx = vxl; // vyy = vyl; } diff --git a/simulation/untitled.asv b/simulation/untitled.asv deleted file mode 100644 index 494a0dc..0000000 --- a/simulation/untitled.asv +++ /dev/null @@ -1,15 +0,0 @@ -A = [3 1 5; - 6 2 6]; -B = [6;4;-1]; -C = [2 4; 3 6; -1 2]; -D = [5 1; 3 1] -E = [3 -2; 1 4] -F = [2 1 3; 5 7 -2] - -A + F -E-D -C+B -C*D -A*F -C' -F'*E \ No newline at end of file -- GitLab