Comments (1)
meyerj
commented on July 22, 2024
Hi,
I could reproduce the problem. It is caused by the additional mass and moment of the ASUS camera, that was never tested with the new controller implementation. For some reason the Kinect model in our hector_sensors_description package has almost no mass, while the ASUS Xtion has a mass of 200 g.
I updated the controller settings and added some integral gain to the x/y angle (attitude) controller so that it is able to cope with the asymmetric center of gravity. Now I am able to control the drone with the ASUS camera, only directly after takeoff the quadrotor drifts a little bit until the controller counteracts.
Could you please test the fix-12 branch and confirm that it also solves the problem for you? If you have the binary packages and installed and do not want to install from source you can simply modify the ´controller.yaml´ file in package $(rospack find hector_quadrotor_controller)/params according to 3ce12f8 (root privileges required).
Johannes
from hector_quadrotor.
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