<div dir="ltr">Hi Andrei!<div><br></div><div>I did almost from scratch quadrotor plugin. So I hope this version will work for you.</div><div><br></div><div>At now is a pull request: <a href="https://github.com/RoboticsURJC/JdeRobot/pull/243">https://github.com/RoboticsURJC/JdeRobot/pull/243</a></div><div>Ice.Config has change a bit, so look for introrob_py_simulated2.cfg</div></div><div class="gmail_extra"><br><div class="gmail_quote">2015-11-05 14:00 GMT+01:00 Victor Arribas <span dir="ltr"><<a href="mailto:v.arribas.urjc@gmail.com" target="_blank">v.arribas.urjc@gmail.com</a>></span>:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><div dir="ltr">Hi Andrei!<div><br></div><div>Just a simple question: What version of gazebo are you using?</div><div><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left-width:1px;border-left-color:rgb(204,204,204);border-left-style:solid;padding-left:1ex">(hJdeRobot5.3)varribas@Ubuntu14lts:~/ros_jde_ws/militaru_ws$ gazebo --version<br>Gazebo multi-robot simulator, version 5.1.0<br>Copyright (C) 2012-2015 Open Source Robotics Foundation.<br>Released under the Apache 2 License.<br><a href="http://gazebosim.org" target="_blank">http://gazebosim.org</a></blockquote><div><br></div></div><div>It should be 5.1, but your ROS stack requires gazebo2</div><div>Please, remove dependency from IceRosGazebo and RosLib (if required).<br></div><div><br></div><div>Finally, let me known what nodes are required and what ones are deprecated.</div><div>At now, I'm having issues like:</div><div><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left-width:1px;border-left-color:rgb(204,204,204);border-left-style:solid;padding-left:1ex">CMake Error at JdeRobot2015/catkin_ws/src/RosIceCamera/interfaces/slice/CMakeLists.txt:17 (add_library):<br> add_library cannot create target "jderobot_interfaces" because another<br> target with the same name already exists. The existing target is a shared<br> library created in source directory<br> "/home/varribas/ros_jde_ws/militaru_ws/src/JdeRobot2015/catkin_ws/src/RosIceBridge/interfaces/slice".</blockquote></div><div><br></div></div><div class="HOEnZb"><div class="h5"><div class="gmail_extra"><br><div class="gmail_quote">2015-11-01 21:55 GMT+01:00 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">Hi Victor,<br>
<br>
So the problem is that when I run my plugin, force.z becomes nan. On line<br>
258 in quadrotorplugin.cc we have this code:<br>
<br>
output = controllers_.velocity_z.update(<br>
velocity_command_->linearZ,<br>
velocity.z, acceleration.z, dt);<br>
force.z = mass * (output +<br>
load_factor * gravity);<br>
<br>
In this update method, at a moment the output becomes nan.<br>
<br>
With introrob_py the program works fine.<br>
<br>
I uploaded a video about how to run my plugin:<br>
<a href="https://www.youtube.com/watch?v=oQjxTZoF8Cg" rel="noreferrer" target="_blank">https://www.youtube.com/watch?v=oQjxTZoF8Cg</a><br>
<br>
The code is here:<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>
Best regards,<br>
Andrei<br>
<br>
<br>
<br>
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