hi,
I am trying to achieve simultaneous position and velocity control in ROS2, using micrortps_bridge
Separately i can do position, and velocity, but when together, i think i am missing some control theory fundamentals
here is what i am doing
- prearm:
send a continuous stream of
Off-board control mode with only position set to true
and Trajectory set point msg with x = 0, y = 0, and Z = - ALTITUDE.
-
Arm
I arm the vehicle after 20 setpoint messages -
takeoff :
send a continuous stream of
Off-board control mode with only position set to true
and Trajectory set point msg with x = 0, y = 0, and Z = - ALTITUDE
at this point vehicle takes off
- trying to move towards a point (2, 26) with slow speed :
send a continuous stream of
Off-board control mode with position and Velocity set to true
and Trajectory set point msg with x y z, and vx vy vz,
the drone moves towards the waypoint, but at a very high speed, where as i have set vx vy and vz to 2m/s.
According to this link
Position setpoint and velocity setpoint (the velocity setpoint is used as feedforward; it is added to the output of the position controller and the result is used as the input to the velocity controller).
so i started assigning negative values to the vx, vy. It is now moving slower. but the local position message still shows around 9m/s in y axis… what am i missing here