Comments (3)
Hi Alex,
As indicated in the main page of this repo, command/current_reference
is among the published topics of the node, so you can't use this one to input a command.
What you can use to input commands the the controller is either command/pose
or command/trajectory
or rc
. These are topics to which the controller subscribes.
For example, you can use the following command to input a single pose reference point at 1 meter height from the origin:
rostopic pub /firefly/command/pose geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "world"}, pose: {position: {x: 0, y:0, z: 1}, orientation: {w: 1.0}}}'
Regards,
Marco.
from mav_control_rw.
Thank you, Marco!
Alex
from mav_control_rw.
For anyone who tried @marco-tranzatto 's command and faced an issue, there is a small typo (The space after y's colon in 'position' is missing)
The correct command should be:
rostopic pub /firefly/command/pose geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "world"}, pose: {position: {x: 0, y: 0, z: 1}, orientation: {w: 1.0}}}'
Also note that you will need to start the simulation by calling unpause_physics
service by
rosservice call /gazebo/unpause_physics
from mav_control_rw.
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