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muralivnv edited this page Oct 10, 2017
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As this package is created for the rover that uses pixhawk(APM), the package mavros is required for obtaining the sensor data from pixhawk. And to command the motors, Arduino-rosserial is required.
mavros-pkg-installation mavros-pkg-installation-ARM-devices arduino-rosserial-installation
In order to use mavros-pkg, the necessary port number(/dev/ttyUSB* or /dev/ttyACM*) and baudrate of 921600 need to be set inside the mavros launch files apm2.launch (if APM stack autopilot is used) or px4.launch(if px4 stack autopilot is used). This is already mentioned on mavros-pkg-installation website.
- Encoder configuration
- As quadrature encoders are used for the rover, the number of encoder ticks per meter needs to be set.
- edit params wheel/motor/left_encoder_ticks_per_meter and wheel/motor/right_encoder_ticks_per_meter in file
asl_gremlin_pkg/asl_gremlin_pkg/config/rover_parameters.yaml
- edit params wheel/motor/left_encoder_ticks_per_meter and wheel/motor/right_encoder_ticks_per_meter in file
- As quadrature encoders are used for the rover, the number of encoder ticks per meter needs to be set.
- Motor configuration
- The control commands generated are wheel angular velocities. These need to be transformed to motor PWM voltage signal. So an appropriate relationship needs to be set for accurate interpolation.
- edit params wheel/motor/omega_to_pwm/omega and wheel/motor/omega_to_pwm/pwm in file
asl_gremlin_pkg/asl_gremlin_pkg/config/rover_parameters.yaml
- edit params wheel/motor/omega_to_pwm/omega and wheel/motor/omega_to_pwm/pwm in file
- Also the maximum angular velocity of the wheel need to given,
- edit param wheel/max_angular_vel in file
asl_gremlin_pkg/asl_gremlin_pkg/config/rover_parameters.yaml
- edit param wheel/max_angular_vel in file
- The control commands generated are wheel angular velocities. These need to be transformed to motor PWM voltage signal. So an appropriate relationship needs to be set for accurate interpolation.
- Simulation rate
- The rate at which the trajectory and control signals needs to be updated(default 10Hz)
- edit param sim/rate in file
asl_gremlin_pkg/asl_gremlin_pkg/config/rover_parameters.yaml
- edit param sim/rate in file
- The rate at which the trajectory and control signals needs to be updated(default 10Hz)
- Waypoint Proximity radius
- This is the value that will be used by the rover for creating trajectory for the next waypoint when rover it at a distance of sim/waypoint_proximity(default 0.8m)
- edit param sim/waypoint_proximity in file
asl_gremlin_pkg/asl_gremlin_pkg/config/rover_parameters.yaml