Spacecrafts and Thrusters Plugin #1039
Conversation
Pedro-Roque
force-pushed
the
pr-thruster-plugin
branch
from
5c15c2e
to
5dc1a51
Compare
* fix: revert mavlink changes, now compiles with upstream * fix: sdf thruster locations * feat: adding zero g world and satellite for demo'ing 3d spacecraft
|
Added DART model for 3D Spacecraft. Will also add a world without asphalt (just ground plane) for the 2D platforms. Will put here pictures with these... But other than that, I think this is pretty much there and to be synced with PX4/PX4-Autopilot#23117 Edit: @Jaeyoung-Lim where is the space world? I think U somewhat duplicated it, but mine doesn't have a ground plane (zero_g). |
Pedro-Roque
changed the title
| getSdfParam<std::string>(_sdf, "actuatorOutputsCommandPubTopic", actuator_outputs_pub_topic_, | ||
| actuator_outputs_pub_topic_); | ||
| pub_actuator_outputs_ = true; | ||
| } |
There was a problem hiding this comment.
Why do we need a separate topic to command actuator outputs?
There was a problem hiding this comment.
I believe I added this thinking that later with multiple agents we can run different gazebo topics - but maybe that is already done with namespacing?
There was a problem hiding this comment.
Yeap multivehicle simulation is already supported
@Jaeyoung-Lim some changes were needed for the libraries to build (probably a mavlink mismatch on PX4 side.
Commands are now received on the plugin but platform moves much slower than what it should... Something to debug.