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Description
Hi
I took the movement functions that the teleopt module uses, i.e. speed.py.
With that speed module I can give the drone an order to go to a direction using velocity vector, and it keeps moving until I tell it to stop.
How do I tell it to stop? two options, both problematic.
- I can set the velocity vector to zeros. It stops, after a drift caused by its movement. But it stops.
- I can call the 'hover()' function. That stops the drone immediately which is what I need.
But if I use the second option, when performing another movement on another direction, I still get leftovers from the former movement.
For example, if I go 'forwards' (1,0,0), then call hover, and then go 'right' (0,1,0), the drone would go forwards, stops, then go forwards again for half a second and only then fixes its movement and go right.
That is not desirable at all...
Is that a bug?
Activity
pariaspe commentedon Jul 8, 2024
It looks like a bug, @RPS98 any idea on what might be happening?
OdedHorowits commentedon Jul 8, 2024
If you want I can add code and screen recording
pariaspe commentedon Jul 9, 2024
Sure, that will be helpful to reproduce the error.
OdedHorowits commentedon Jul 9, 2024
So here is my DroneInterface:
Then I have a wrapper for using the interface:
Results of using hover():
using_hover.mp4
Results of using zero velocity:
using_zero_velocity.mp4
(You can see at the first movement the leftovers of the former video that uses hover...)
pariaspe commentedon Jul 9, 2024
Not sure what it is happening. Also, why are you inheriting from
DroneInterfaceBase
instead of inheriting directly fromDroneInterfaceTeleop
? It might not be the issue here but you are duplicating every ros interface inDroneInterfaceBase
classOdedHorowits commentedon Jul 9, 2024
You are completely right.
The reason is that I started to use the
DroneInterfaceTeleop
module functions only after I build the interface...Anyway I switched it now to inherit from
DroneInterfaceTeleop
. Thanks for that.It seems that the 'hover' phenomena is still exist but much more tolerable, as can been seen.
Still, it is a weird behaviour.
using_hover_02.mp4
RPS98 commentedon Jul 12, 2024
Hi @OdedHorowits,
This issue should have been fixed in aerostack2/aerostack2#584. Can you test it?
OdedHorowits commentedon Jul 12, 2024
I would change the src code according to the change in that issue, re-compile and report.
OdedHorowits commentedon Jul 15, 2024
So I cant check it since I installed the package using the binaries...
I will try to builld it from src