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k-sheridan · Jul 13, 2017 · 2b37b54 · 2b37b54
1 parent fd4638b
commit 2b37b54
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Showing 4 changed files with 8 additions and 161 deletions.
diff --git a/include/pauvsi_trajectory/Physics.h b/include/pauvsi_trajectory/Physics.h
@@ -18,6 +18,10 @@
 #define MOTOR_FORCE_MIN 1
 #define MOTOR_FORCE_MAX 15
 
+//absolute maximum motor force possible
+#define MOTOR_ABS_MAX 25
+#define MOTOR_ABS_MIN 0.1
+
 //mass of quad kg
 #define MASS 5
 

diff --git a/include/pauvsi_trajectory/Simulation.h b/include/pauvsi_trajectory/Simulation.h
@@ -10,8 +10,8 @@
 
 #define MOTOR_FORCE SIGMA 0.2
 #define POSITION_SIGMA 0.03
-#define OMEGA_SIGMA 0.0005
-#define VEL_SIGMA 0.01
+#define OMEGA_SIGMA 0.001
+#define VEL_SIGMA 0.03
 #define QUAT_SIGMA 0.001
 
 #define PHYSICS_UPDATE_DT 0.01
@@ -23,10 +23,7 @@
 #define BASE_FRAME "base_link"
 #define WORLD_FRAME "world"
 
-#define START_POS -9, -9, 0.5
-
-#define MOTOR_ABS_MAX 25
-#define MOTOR_ABS_MIN 0.1
+#define START_POS -9, -9, 1
 
 
 

diff --git a/launch/simulation.launch b/launch/simulation.launch
@@ -1,7 +1,7 @@
 
 <launch>
 
-	<param name="m7_description" command="cat $(find pauvsi_trajectory)/urdf/m7_robot.urdf" />
+	<param name="m7_description" command="cat $(find m7_master)/urdf/m7_robot.urdf" />
 
 	<node pkg="robot_state_publisher" type="robot_state_publisher" name="m7_state_pub" >
       <remap from="robot_description" to="m7_description" />

diff --git a/urdf/m7_robot.urdf b/urdf/m7_robot.urdf