Documentation Status

hector_quadrotor: hector_quadrotor_controller | hector_quadrotor_gazebo | hector_quadrotor_gazebo_plugins | hector_quadrotor_teleop | hector_quadrotor_urdf | hector_uav_msgs

Package Summary

Documented

hector_quadrotor_gazebo_plugins provides gazebo plugins for using quadrotors in gazebo. The hector_gazebo_ros_baro sensor plugin simulates an altimeter based on barometric pressure.

hector_quadrotor: hector_quadrotor_controller | hector_quadrotor_gazebo | hector_quadrotor_gazebo_plugins | hector_quadrotor_teleop | hector_quadrotor_urdf | hector_uav_msgs

Package Summary

Documented

hector_quadrotor_gazebo_plugins provides gazebo plugins for using quadrotors in gazebo. The hector_gazebo_ros_baro sensor plugin simulates an altimeter based on barometric pressure. hector_quadrotor_simple_controller is a simple controller allowing to command the quadrotor's velocity using a geometry_msgs/Twist message for teleoperation.

hector_quadrotor: hector_quadrotor_controller | hector_quadrotor_description | hector_quadrotor_gazebo | hector_quadrotor_gazebo_plugins | hector_quadrotor_model | hector_quadrotor_pose_estimation | hector_quadrotor_teleop | hector_uav_msgs

Package Summary

Documented

hector_quadrotor_gazebo_plugins provides gazebo plugins for using quadrotors in gazebo. The hector_gazebo_ros_baro sensor plugin simulates an altimeter based on barometric pressure. hector_quadrotor_simple_controller is a simple controller allowing to command the quadrotor's velocity using a geometry_msgs/Twist message for teleoperation.

hector_quadrotor

Package Summary

Released Documented

hector_quadrotor_gazebo_plugins provides gazebo plugins for using quadrotors in gazebo. The hector_gazebo_ros_baro sensor plugin simulates an altimeter based on barometric pressure. hector_quadrotor_simple_controller is a simple controller allowing to command the quadrotor's velocity using a geometry_msgs/Twist message for teleoperation just by means of applying forces and torques to the model.

Package Summary

Released Documented

hector_quadrotor_gazebo_plugins provides gazebo plugins for using quadrotors in gazebo. The hector_gazebo_ros_baro sensor plugin simulates an altimeter based on barometric pressure. hector_quadrotor_simple_controller is a simple controller allowing to command the quadrotor's velocity using a geometry_msgs/Twist message for teleoperation just by means of applying forces and torques to the model.

Package Summary

Documented

hector_quadrotor_gazebo_plugins provides gazebo plugins for using quadrotors in gazebo. The hector_gazebo_ros_baro sensor plugin simulates an altimeter based on barometric pressure. hector_quadrotor_simple_controller is a simple controller allowing to command the quadrotor's velocity using a geometry_msgs/Twist message for teleoperation just by means of applying forces and torques to the model.

Package Summary

Documented

hector_quadrotor_gazebo_plugins provides gazebo plugins for using quadrotors in gazebo. The hector_gazebo_ros_baro sensor plugin simulates an altimeter based on barometric pressure. hector_quadrotor_simple_controller is a simple controller allowing to command the quadrotor's velocity using a geometry_msgs/Twist message for teleoperation just by means of applying forces and torques to the model.

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Available Plugins

Barometer Plugin

This plugin simulates a sensor that measures the altitude of the vehicle based on barometric pressure according to the International Standard Atmosphere (ISA). See http://en.wikipedia.org/wiki/Atmospheric_pressure for details.

Published Topics

  • pressure_height (geometry_msgs/PointStamped):

    • The z value of the Point contains the current altitude minus the configured elevation. x and y are always zero.

XML Parameters

  • updateRate (double): output rate of the sensor in milliseconds

  • robotNamespace (string): namespace prefix for topic names

  • frameId (string): frame_id included in the message header

  • topicName (string): name of the sensor output topic (defaults to pressure_height)

  • elevation (double): elevation of the ground or zero for altitude above Mean Sea Level MSL (defaults to 0.0)

  • qnh (double): barometric pressure adjusted to sea level in hPa/mbar (defaults to standard pressure 1013.25 hPa, see http://en.wikipedia.org/wiki/QNH)

  • offset (double): a constant offset added to the range

  • drift (double): standard deviation of the drift error

  • driftFrequency (double): mean frequency of the drift

  • gaussianNoise (double): standard deviation of the additive Gaussian noise

Notes:

  • mav_msgs/Height can be used as alternate message type if compiled with -DUSE_MAV_MSGS.

  • There is no direct output of the atmospheric pressure. The parameter qnh is currently unused.

  • The plugin uses the sensor error model from package hector_gazebo_plugins.

Simple Controller Plugin

The simple quadrotor plugin is a generic controller for quadrotors that enables teleoperated flying in Gazebo. PID controllers are used to control the velocities and yaw rate by calculating the necessary forces and torques acting on the body. It is called "simple controller" as it makes some assumptions that usually hold for quadrotors during hovering and non-aerobatic maneuvers.

The controller uses a cascade of two PID controllers for the horizontal movement and two separate PID controllers for the yaw rate and vertical velocity.

The plugin currently does not provide position, heading or altitude control. You can implement your own position controller on top of it.

Subscribed Topics

  • cmd_vel (geometry_msgs/Twist):

    • The desired velocities and yaw rate of the quadrotor. The angular velocities around x- and y-axis are ignored.

XML Parameters

  • updateRate (double): update rate of the controller in Hz (should always be zero = simulation rate)

  • robotNamespace (string): namespace prefix for topic names

  • bodyName (string): name of the quadrotor body link in Gazebo

  • topicName (string): name of the twist command input topic (defaults to cmd_vel)

  • imuTopic (string): name of the imu topic (sensor_msgs/Imu) to be subscribed and used as current orientation and angular rates source. If empty, ground truth information from Gazebo is used for control (default).

  • stateTopic (string): name of the state topic (nav_msgs/Odometry) to be subscribed and used as current velocity and acceleration source. If empty, ground truth information from Gazebo is used for control (default).

  • maxForce (double): if greater than 0, upper limit of total thrust along the z-axis (defaults to unlimited)

Controller parameters

You can modify the dynamics of the controller by modifying the control parameters. See sample urdf file in https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/blob/fuerte-devel/hector_quadrotor_gazebo_plugins/urdf/quadrotor_simple_controller.urdf.xacro for details.

Controller parameters

You can modify the dynamics of the controller by modifying the control parameters. See sample urdf file in https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/blob/groovy-devel/hector_quadrotor_gazebo/urdf/quadrotor_simple_controller.gazebo.xacro for details.

Controller parameters

You can modify the dynamics of the controller by modifying the control parameters. See sample urdf file in https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/blob/hydro-devel/hector_quadrotor_gazebo/urdf/quadrotor_simple_controller.gazebo.xacro for details.

Quadrotor Propulsion Plugin / Quadrotor Aerodynamics Plugin

The propulsion and aerodynamics plugins simulate the propulsion system (motors and propellers) and drag, respectively. They take the motor voltages and the wind vector as input.

Subscribed Topics

  • motor_pwm (hector_uav_msgs/MotorPWM):

    • The commanded motor voltages for the four motors. The voltage is given as pulse width in the range of 0 to 255 (full battery voltage).
  • wind (geometry_msgs/Vector3):

    • You can specify a wind vector using this topic, which is substracted from the quadrotor's base velocity to calculate the drag forces.

Published Topics

XML Parameters

  • updateRate (double): update rate of the controller in Hz (should always be zero = simulation rate)

  • controlRate (double): update rate of the controller rate in Hz. If greater than 0, the simulation will be throttled if new motor voltages arrive slower than this rate.

  • controlDelay (double): tolerance for the delay of the voltage timestamps compared to the simulation time

  • robotNamespace (string): namespace prefix for topic names

  • bodyName (string): name of the quadrotor body link in Gazebo

  • voltageTopicName (string): name of the motor voltage input topic (defaults to motor_pwm)

  • statusTopic (string): name of the motor status topic (defaults to motor_status)

  • wrenchTopic (string): name of the wrench output topic (defaults to wrench_out)

ROS Parameters

A bunch of parameters that describe the quadrotor model are loaded from the ROS parameter server during plugin initialization.

Matlab Compilation

The differential equations that describe the quadrotor system are implemented as Matlab scripts and compiled to C libraries using the Matlab Coder in package hector_quadrotor_model. You need a version of Matlab installed on your computer and available in the system path to compile the model. Otherwise these plugins will not be available.

Wiki: hector_quadrotor_gazebo_plugins (last edited 2013-09-13 08:19:03 by JohannesMeyer)