<div dir="ltr"><div><div><div><div><div>Hello Andrei,<br><br>The movement of the drone in QuadrotorPlugin is computed by getting and applying the equivalent forces and torques produced by the four rotors to the drone model, so it only calculates one force and one torque. They are calculated periodically and applied in the onupdate function of the QuadrotorPlugin class.<br></div><br></div>When takeoff() runs, it changes the drone state, as you say. Depending on the state, the force and the torque are weighted by different factors. In takingoff state, the factor is greater than in flying or landing.<br><br></div>So it doesn't activate each rotor directly or generate one force for each one. This makes it easier to program and the result is still similar to the real model.<br><br></div>Best regards,<br></div>Daniel<br></div><div class="gmail_extra"><br><div class="gmail_quote">2015-10-06 11:17 GMT+02:00 militaru92 <span dir="ltr"><<a href="mailto:militaru.andrei92@gmail.com" target="_blank">militaru.andrei92@gmail.com</a>></span>:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">Hello everybody,<br>
<br>
I have a question about the introrob_py component and the quadrotor plugin<br>
for gazebo.<br>
Can someone tell me how does the ArDrone take off once the TakeOff button is<br>
pressed?<br>
<br>
I noticed that by pressing the takeoff button, the method of the<br>
ArDroneExtra Proxy is called: takeoff(), however this only changes the state<br>
of the ArDrone, I didn't notice any code that will activate the motors of<br>
the robot.<br>
<br>
I assume that in the introrob_py component, there is a function that sends<br>
an initial configuration to the motors of the ArDrone, but I didn't find it.<br>
<br>
The reason I am asking this is because I want to integrate my ROS-Ice bridge<br>
so I reimplemented in C++ the GUI in introrob, to work with ROS, but when I<br>
press "takeoff", only the state of the ArDrone changes.<br>
<br>
This is where you can find what I have done so far:<br>
<a href="https://github.com/militaru92/JdeRobot2015/tree/master/catkin_ws/src" rel="noreferrer" target="_blank">https://github.com/militaru92/JdeRobot2015/tree/master/catkin_ws/src</a><br>
<br>
The packages in question are: ARDrone_GUI and ARDroneInterface<br>
<br>
Best regards,<br>
Andrei Militaru<br>
<br>
<br>
<br>
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</blockquote></div><br></div>