Compilation Problem about mavros_controllers HOT 16 CLOSED

This is a recently added dependency. Sorry for not updating the readme.
Try installing it through the dependeincies.rosinstall in the root of the repo

cd ~/catkin_ws
wstool merge -t src mavros_controllers/dependencies.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y --rosdistro kinetic

or you can simply clone it to the src directory as the following

git clone https://github.com/ethz-asl/eigen_catkin.git

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Thank you very much.
This commands will update only mavros_controllers package or
all packages in workspace ? I have a packages that I don't want to update.

BR
Evgeny

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@altshuler If you are worried about dependencies, simply clone eigen_catkin into your workspace. That should be enough

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Hello,
when I do roslaunch geometric_controller trajectory_track_circle.launch command.
I get this message:
ERROR: cannot launch node of type [trajectory_publisher/trajectory_publisher]: can't locate node [trajectory_publisher] in package [trajectory_publisher]

The drone just takeoff and hovering in one place.

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Did you build the trajectory publisher?

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Actually, no...
I didn't get that needed to build it separately.
Any other packages should be built separately ?

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As written in the instructions, if you build mavros_controllers it will build trajectory_publisher and geometric_controller as it depends on both

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Ok, thanks.
Will test it today.

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@altshuler Any updates?

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I'm compiled the packages, Running simulations ,
trying to understand the code.
I have 2 questions.
Ho I can disable running Gazebo every simulation ?
What launch file runs real flight (not simulation) ?

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@altshuler So does that mean the problem is solved?

On a real platform, you need to disable sim_enable_ parameter and not launch px4_sitl.

Currently there is no launch file specifically for a real system. Do you need one?

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Yes, the problem is solved.
I will try to fly on real drone.

Tanks

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@altshuler Have you tried flying?

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Actually, yes. But the vehicle is not arming.
I disabled sim_enable_ parameter and px4_sitl .
And I tried it before last updates that you added to the project.
Unfortunately I have some HW problems on my Intel Aero, so I will try it
on next week.

Can you explain in couple of words what dob_controller do ?

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Cool. Hope it works 😄

A dob_controller is a implementation of a disturbance observer based control. It tries to estimate the disturbance and compensate it. This is at a very experimental stage. It works in SITL, but flies a bit aggressively which I am not sure how it would behave on a real drone.

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Closing as the issue is resolved

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